面向复杂任务的双手机巧操作能力
Bimanual Dexterity for Complex Tasks
AI总结：
本文提出Bidex双臂灵巧遥操作系统，以低成本、低延迟方案实现50+自由度操控，相比Vision Pro和SteamVR能以更快速度生成更高质量的复杂任务数据，并支持移动双臂机器人在野外任务中的应用。
摘要：
为了训练通用机器人策略，机器学习方法通常需要大量的人类专家遥操作数据。对于人类采集数据而言，理想的机器人应当尽可能接近人类自身：即配备双臂和灵巧手。然而，构建一个自由度超过50的双臂遥操作系统是一项重大挑战。为此，我们提出了Bidex，一个极其灵巧、低成本、低延迟且便携的双臂灵巧遥操作系统，该系统依赖于动作捕捉手套和教师臂。我们将Bidex与Vision Pro遥操作系统和SteamVR系统进行了比较，发现Bidex能够以更快的速度为更复杂的任务生成更高质量的数据。此外，我们展示了Bidex操控移动双臂机器人在野外任务中的表现。该机器人手（5千美元）和遥操作系统（7千美元）易于复现，并可用于多种机器人手臂，包括两个xArms（1.6万美元）。网站地址为https://bidex-teleop.github.io/。
英文摘要：
To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous hands. However, creating such a bimanual teleoperation system with over 50 DoF is a significant challenge. To address this, we introduce Bidex, an extremely dexterous, low-cost, low-latency and portable bimanual dexterous teleoperation system which relies on motion capture gloves and teacher arms. We compare Bidex to a Vision Pro teleoperation system and a SteamVR system and find Bidex to produce better quality data for more complex tasks at a faster rate. Additionally, we show Bidex operating a mobile bimanual robot for in the wild tasks. The robot hands (5k USD) and teleoperation system (7k USD) is readily reproducible and can be used on many robot arms including two xArms (16k USD). Website at https://bidex-teleop.github.io/
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
