AnyDexRT: 較正不要で数回の人間ガイダンスによる器用な手のリターゲティング
AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
AnyDexRTは、人間の手の動きをロボットハンドにマッピングする際に、較正や手動調整を不要にし、数回の人間の指示で直感的な遠隔操作を実現する手法を提案した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Chenxi Wang, Ying Feng, Hongjie Fang, Shangning Xia, Lixin Yang, Chuan Wen, Cewu Lu
分類: cs.RO
原文アブストラクト
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retargeting, which maps operator hand motions to feasible and intuitive robot hand motions. Existing methods often require hand-crafted objectives, precise calibration, or global shape matching between human and robot hand spaces, making them sensitive to hand-specific tuning and less reliable across different dexterous hands. We propose AnyDexRT, a calibration-free retargeting method for intuitive dexterous teleoperation across human-like dexterous hands. AnyDexRT combines self-supervised fingertip correspondence learning with few-shot human guidance to anchor the mapping in task-relevant regions, and further refines pinch-related poses using a contact classifier. Experiments on diverse dexterous hands and real-world teleoperation tasks show that AnyDexRT improves retargeting quality, reduces manual tuning, and provides more intuitive and efficient control than prior retargeting methods. Project website: https://chenxi-wang.github.io/projects/anydexrt
