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DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation #16

Open utterances-bot opened 6 months ago

utterances-bot commented 6 months ago

DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation

https://real-science.vercel.app/DexCap-Scalable-and-Portable-Mocap-Data-Collection-System-for-Dexterous-Manipulation

HaoyiZhu commented 6 months ago

Rate: 4 很有意思的系统，灵活，方便，并且成本可控。可以采 human demonstration 和 in-the-wild 数据，这对robot scaling up很关键。方法上也是发现说点云的3D表示还是有很多好处的。算法上再次证明了diffusion policy的牛逼。不过这种retargeting的方式对于复杂精细的任务发现还是需要额外遥操数据去finetune的。所以我觉得hand pose这种表征还是不够本质，很难做zero-shot。