ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
<|reference_start|>ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation: 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.<|reference_end|>
@article{yang2024ace:,
    title={ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous
  Teleoperation},
    author={Shiqi Yang and Minghuan Liu and Yuzhe Qin and Runyu Ding and Jialong
  Li and Xuxin Cheng and Ruihan Yang and Sha Yi and Xiaolong Wang},
    journal={arXiv preprint arXiv:2408.11805},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.11805},
    primaryClass={cs.RO cs.CV cs.LG}
}