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arXiv · 2408.11805

ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation

Shiqi Yang·Minghuan Liu·Yuzhe Qin·Runyu Ding·Jialong Li·Xuxin Cheng·Ruihan Yang·Sha Yi·Xiaolong Wang
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Abstract

Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse robot platforms has become more crucial than ever. However, there is a notable lack of cost-effective and user-friendly teleoperation systems for different end-effectors, e.g., anthropomorphic robot hands and grippers, that can operate across multiple platforms. To address this issue, we develop ACE, a cross-platform visual-exoskeleton system for low-cost dexterous teleoperation. Our system utilizes a hand-facing camera to capture 3D hand poses and an exoskeleton mounted on a portable base, enabling accurate real-time capture of both finger and wrist poses. Compared to previous systems, which often require hardware customization according to different robots, our single system can generalize to humanoid hands, arm-hands, arm-gripper, and quadruped-gripper systems with high-precision teleoperation. This enables imitation learning for complex manipulation tasks on diverse platforms.

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Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang. 2024-08-21. ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation. https://arxiv.org/abs/2408.11805

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