RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

arXiv:2402.13853v1 Announce Type: cross
Abstract: In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world …

abstract arxiv authentic collection cs.ai cs.cv cs.ro data dataset grasping human human-like multimodal paper patterns robot robotic teleoperation type view visual visual data