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simmediummanipulation-datametric · varies
DexViTac: Collecting Human Visuo-Tactile-Kinematic Demonstrations for Contact-Rich Dexterous Manipulation
Description
Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile information during physical interactions. Motivated by this, we present DexViTac, a portable, human-centric data collection system tailored for contact-rich dexterous manipulation. The system enables the high-fidelity acquisition of first-person vision, high-densi