Dex UMI

An extension of the original UMI idea for dextrous bimanual built atop the Aero-Hand to achieve dextrous manipulation without teleop fatigue

Data fidelity

Modalities

Multi-view RGB • End-Effector 6 DoF Pose

Sample rate

20hz subsampled

Action space

13-DoF x 2 hands [6 DoF Pose, 4 Finger Flexion, Thumb Abduction/ Flexion/ Tendon]

Annotations

Episode Level Task • Granular Motion Annotation

Format

LeRobot

Coming Soon

Dense Subtask Annotations • Tactile Finger Arrays