Event

DexPort: A Handheld Data Collection Interface for Dexterous Hands

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Amber Xie and other authors propose and release DexPort, a handheld data collection interface for high-degree-of-freedom robotic hands. The same set of hand hardware is used for both collection and deployment to avoid differences in the hand body, and joint target commands and measured joint states are recorded simultaneously. During collection, the operator moves the handheld interface to specify wrist motion and coordinates finger movements by selecting or adjusting skills, without needing to control each joint individually; the authors state that they have collected more than 2,500 demonstrations across multiple real-world tasks in laboratory and unstructured environments without using a robotic arm.