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We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot hands.
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
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Nimbro avatar: Interactive immersive telepresence with force-feedback telemanipulation
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P. Mandikal and K. Grauman · 2021
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Visual imitation made easy
S. Young, D. Gandhi, S. Tulsiani, A. Gupta, P. Abbeel, and L. Pinto · 2021
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Learning purely tactile in-hand manipulation with a torque-controlled hand
L. Sievers, J. Pitz, and B. Bäuml · 2022
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Y. Qin, H. Su, and X. Wang · 2022
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Dexvip: Learning dexterous grasping with human hand pose priors from video
P. Mandikal and K. Grauman · 2022
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Dexmv: Imitation learning for dexterous manipulation from human videos
Y. Qin, Y.-H. Wu, S. Liu, H. Jiang, R. Yang, Y. Fu, and X. Wang · 2022
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Human-to-robot imitation in the wild
S. Bahl, A. Gupta, and D. Pathak · 2022
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Rotating without seeing: Towards in-hand dexterity through touch
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Dynamic handover: Throw and catch with bimanual hands
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In-hand object rotation via rapid motor adaptation
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Y. Qin, W. Yang, B. Huang, K. Van Wyk, H. Su, X. Wang, Y.-W. Chao, and D. Fox · 2023
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Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation
S. P. Arunachalam, S. Silwal, B. Evans, and L. Pinto · 2023
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Holo-dex: Teaching dexterity with immersive mixed reality
S. P. Arunachalam, I. Güzey, S. Chintala, and L. Pinto · 2023
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Deft: Dexterous fine-tuning for real-world hand policies
A. Kannan, K. Shaw, S. Bahl, P. Mannam, and D. Pathak · 2023
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Learning generalizable dexterous manipulation from human grasp affordance
Y.-H. Wu, J. Wang, and X. Wang · 2023
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Vividex: Learning vision-based dexterous manipulation from human videos
Z. Chen, S. Chen, E. Arlaud, I. Laptev, and C. Schmid · 2024
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Maniwav: Learning robot manipulation from in-the-wild audio-visual data
Z. Liu, C. Chi, E. Cousineau, N. Kuppuswamy, B. Burchfiel, and S. Song · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation, 2024
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On hand-held grippers and the morphological gap in human manipulation demonstration
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Sam 2: Segment anything in images and videos
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Rovi-aug: Robot and viewpoint augmentation for cross-embodiment robot learning
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Dynamics-guided diffusion model for robot manipulator design
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Eyesight hand: Design of a fully-actuated dexterous robot hand with integrated vision-based tactile sensors and compliant actuation
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