Open TeleDex：面向基于模仿学习的灵巧操作的一种硬件无关遥操作系统
Open TeleDex: A Hardware-Agnostic Teleoperation System for Imitation Learning based Dexterous Manipulation
AI总结：
Open TeleDex提出统一遥操作框架，解决异构设备下演示数据采集难题，支持任意机械臂、灵巧手和输入设备，并引入手部姿态重定向算法提升互操作性，为模仿学习提供高质量数据平台。
摘要：
准确且高保真的演示数据采集是部署机器人模仿学习（IL）系统的关键瓶颈，尤其是在处理异构机器人平台时。现有的遥操作系统往往无法保证在多种类型的遥操作设备上实现高精度的数据采集。为解决这一问题，我们开发了Open TeleDex，一个专为演示数据采集而设计的统一遥操作框架。Open TeleDex专门应对TripleAny挑战，无缝支持任意机械臂、任意灵巧手和任意外部输入设备。此外，我们提出了一种新颖的手部姿态重定向算法，该算法显著提升了Open TeleDex的互操作性，使其能够与更广泛的异构主从设备实现稳健而精确的兼容。Open TeleDex为加速复杂机器人操作和IL领域的学术研究与工业发展，建立了一个基础性、高质量且公开可用的平台。
英文摘要：
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often fail to guarantee high-precision data collection across diverse types of teleoperation devices. To address this, we developed Open TeleDex, a unified teleoperation framework engineered for demonstration data collection. Open TeleDex specifically tackles the TripleAny challenge, seamlessly supporting any robotic arm, any dexterous hand, and any external input device. Furthermore, we propose a novel hand pose retargeting algorithm that significantly boosts the interoperability of Open TeleDex, enabling robust and accurate compatibility with an even wider spectrum of heterogeneous master and slave equipment. Open TeleDex establishes a foundational, high-quality, and publicly available platform for accelerating both academic research and industry development in complex robotic manipulation and IL.
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。
