RealDex: Towards Human-like Grasping for Robotic Dexterous Hand

	RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
	Liu, Yumeng 1,2; Yang, Yaxun1 ; Wang, Youzhuo1 ; Wu, Xiaofei1 ; Wang, Jiamin1 ; Yao, Yichen1 ; Schwertfeger, Soren1 ; Yang, Sibei1 ; Wang, Wenping 3; Yu, Jingyi1 ; He, Xuming1 ; Ma, Yuexin1
	2024
会议录名称	PROCEEDINGS OF THE THIRTY-THIRD INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, IJCAI 2024
摘要	In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The dataset and associated code are available at https://4dvlab.github.io/RealDex page/.
会议名称	33rd International Joint Conference on Artificial Intelligence (IJCAI)
出版地	ALBERT-LUDWIGS UNIV FREIBURG GEORGES-KOHLER-ALLEE, INST INFORMATIK, GEB 052, FREIBURG, D-79110, GERMANY
会议地点	null,Jeju,SOUTH KOREA
会议日期	AUG 03-09, 2024
URL	查看原文
收录类别	CPCI-S
语种	英语
资助项目	NSFC[62206173]
WOS研究方向	Computer Science ; Mathematics
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods ; Mathematics, Applied
WOS记录号	WOS:001347142806110
出版者	IJCAI-INT JOINT CONF ARTIF INTELL
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/474147
专题	信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_何旭明组信息科学与技术学院_PI研究组_虞晶怡组信息科学与技术学院_PI研究组_Sören Schwertfeger组信息科学与技术学院_PI研究组_马月昕信息科学与技术学院_PI研究组_杨思蓓组
通讯作者	Ma, Yuexin
作者单位	1.ShanghaiTech Univ, Shanghai, Peoples R China 2.Univ Hong Kong, Hong Kong, Peoples R China 3.Texas A&M Univ, College Stn, TX USA
第一作者单位	上海科技大学
通讯作者单位	上海科技大学
第一作者的第一单位	上海科技大学
推荐引用方式 GB/T 7714	Liu, Yumeng,Yang, Yaxun,Wang, Youzhuo,et al. RealDex: Towards Human-like Grasping for Robotic Dexterous Hand[C]. ALBERT-LUDWIGS UNIV FREIBURG GEORGES-KOHLER-ALLEE, INST INFORMATIK, GEB 052, FREIBURG, D-79110, GERMANY:IJCAI-INT JOINT CONF ARTIF INTELL,2024.