MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
MILE, a teleoperation-based data-collection system comprising the wearable MILE exoskeleton and the mechanically corresponding MILE-Tac robotic hand, and trained paired ACT and DP policies with and without tactile input on MILE-collected demonstrations for downstream imitation learning.
Jinda Du, Jie-Ji Ren, Qiao-Jun Yu et al.
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