TeleDex：易于使用的灵巧遥控
TeleDex: Accessible Dexterous Teleoperation
AI总结：
TeleDex通过手机实现灵巧手和机械臂的直观遥控，降低硬件和设置门槛，支持模拟和现实任务中的演示收集，为机器人遥控提供统一可扩展接口。
摘要：
尽管数据集规模和模型容量不断增加，机器人操作策略仍难以泛化到训练分布之外的环境。因此，在新环境中部署最新策略通常需要收集额外演示。为此，我们需要能够快速、经济且低设置的演示收集工具。我们提出了TeleDex，一个开源系统，允许用户使用任何可用手机进行灵巧手和机械臂的直观遥控。该系统通过手机流式传输低延迟的6自由度腕部姿态和21自由度手部状态估计，无需外部跟踪基础设施即可将这些数据映射到机器人臂和多指手。TeleDex支持仅手持手机模式和可打印的手持接口的可选模式，用于指尖级别的遥控。通过降低硬件和设置门槛，TeleDex使用户能够在部署期间快速收集演示以支持策略微调。我们在模拟和现实操作任务中评估了该系统，证明其作为机器人遥控统一可扩展接口的有效性。所有软件和硬件设计以及演示视频均开源，可在orayyan.com/teledex获取。
英文摘要：
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot embodiments often requires collecting additional demonstrations. Enabling this in real-world deployment settings requires tools that allow users to collect demonstrations quickly, affordably, and with minimal setup. We present TeleDex, an open-source system for intuitive teleoperation of dexterous hands and robotic manipulators using any readily available phone. The system streams low-latency 6-DoF wrist poses and articulated 21-DoF hand state estimates from the phone, which are retargeted to robot arms and multi-fingered hands without requiring external tracking infrastructure. TeleDex supports both a handheld phone-only mode and an optional 3D-printable hand-mounted interface for finger-level teleoperation. By lowering the hardware and setup barriers to dexterous teleoperation, TeleDex enables users to quickly collect demonstrations during deployment to support policy fine-tuning. We evaluate the system across simulation and real-world manipulation tasks, demonstrating its effectiveness as a unified scalable interface for robot teleoperation. All software and hardware designs, along with demonstration videos, are open-source and available at orayyan.com/teledex.
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。
