低成本高精度双臂遥操作系统，提升复杂任务数据采集效率
Bimanual Dexterity for Complex Tasks
- 用动作捕捉手套+教师臂构建低延迟双臂遥操作系统
- 在复杂任务中采集数据速度更快、质量更高，优于Vision Pro和SteamVR
- 可复用于多种机器人臂，适合通用机器人策略训练
为训练通用机器人策略，机器学习方法通常需要大量专家人类遥操作数据。理想的遥操作机器人应具备类人双臂与灵巧手。然而，构建具有50多个自由度的双臂遥操作系统极具挑战。为此，我们提出Bidex——一种极灵巧、低成本、低延迟且便携的双臂灵巧遥操作系统，依赖动作捕捉手套与教师臂。相比Vision Pro与SteamVR系统，Bidex在复杂任务中能以更快速度生成更高质量的数据。此外，我们展示了该系统操控移动双臂机器人完成真实场景任务。机器人手（5000美元）与遥操作系统（7000美元）均可轻松复现，适用于多种机器人臂，包括两台xArm（16000美元）。官网：https://bidex-teleop.github.io/
原文摘要 · Abstract (English)
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/
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