MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror
In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of cost-effectiveness. The framework is natively compatible with the RealMirror ecosystem, offering ready-to-use functionality for stable and precise robotic trajectory recording within the Isaac simulation environment, thereby facilitating the construction of Vision-Language-Action (VLA) datasets. Additionally, the system supports real-time teleoperation of a variety of end-effector-equipped robots, including dexterous hands and robotic grippers. This work aims to lower the technical barriers in the study of upper-limb robotic manipulation, thereby accelerating advancements in VLA-related research.
Code (0)
등록된 구현이 없습니다.
Tasks
Visual TrackingSimilar Papers 제목 키워드 기반
Signs of Language: Embodied Sign Language Fingerspelling Acquisition from Demonstrations for Human-Robot Interaction
Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In t…
Imitation LearningLanguage AcquisitionMiDAS: A Multimodal Data Acquisition System and Dataset for Robot-Assisted Minimally Invasive Surgery
Background: Robot-assisted minimally invasive surgery (RMIS) research increasingly relies on multimodal data, yet access to proprietary robot telemetry remains a major barrier. We introduce MiDAS, an open-source, platfor…
Gesture RecognitionMimicking the Maestro: Exploring the Efficacy of a Virtual AI Teacher in Fine Motor Skill Acquisition
Motor skills, especially fine motor skills like handwriting, play an essential role in academic pursuits and everyday life. Traditional methods to teach these skills, although effective, can be time-consuming and inconsi…
Imitation Learningreinforcement-learningReinforcement LearningLearning Sequential Acquisition Policies for Robot-Assisted Feeding
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level skills, an assistive robot must also pla…
Implementing PID Controller on a hand follower robot using Numerical Methods
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating th…