DexPort reuses the deployment hand's hardware and control interface, so each demonstration records native commanded joint targets and resulting states.
Hand-held skill interface enables portable data collection for dexterous robot hands
DexPort records executed commands from the same hand hardware used at deployment, and policies trained on those commands lift average task success from 11% to 64%.
Big Tech
Amber Xie · Jiawei Fu · Xiaofeng Guo · Carmelo Sferrazza · Guanya Shi · Haozhi Qi
Amazon FAR (Frontier AI & Robotics) · Stanford University · UC San Diego
Research Digest··3 min read
The authors present DexPort, a hand-held interface for collecting demonstrations for high-degree-of-freedom robot hands.
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