DexPort: A Hand-Held Skill Interface for Dexterous Hand Data Collection
[Robotyka] Autorzy: Amber Xie, Jiawei Fu, Xiaofeng Guo i 3 więcej
Collecting high-quality demonstrations remains a central bottleneck for learning dexterous manipulation. Teleoperation records executable robot actions, but it requires a complete robot setup and places the burden of coordinating many finger joints on the operator. Human demonstrations are easier to collect, but their motions must be estimated and retargeted to the robot, and they do not directly provide robot actions. In this paper, we introduce DexPort, a portable data-collection interface for high-DoF robot hands. It uses the same hand hardware for collection and deployment, avoiding a hand embodiment gap, and records both commanded joint targets and measured joint states. Our key observation is that a small set of skills can support a wide range of dexterous tasks. During collection, the operator moves the hand-held interface to specify the robot wrist motion and selects or adjusts …
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka