RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
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arXiv
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| Autores principales: | , , , , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866910995783352320 |
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| author | Wan, Zhaoliang Bi, Zetong Zhou, Zida Ren, Hao Zeng, Yiming Li, Yihan Qi, Lu Yang, Xu Yang, Ming-Hsuan Cheng, Hui |
| author_facet | Wan, Zhaoliang Bi, Zetong Zhou, Zida Ren, Hao Zeng, Yiming Li, Yihan Qi, Lu Yang, Xu Yang, Ming-Hsuan Cheng, Hui |
| contents | This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware and software platform where the compact 20-DoF hand, robust whole-hand perception, and high-DoF teleoperation interface are jointly designed. Specifically, RAPID Hand adopts a compact and practical hand ontology and a hardware-level perception framework that stably integrates wrist-mounted vision, fingertip tactile sensing, and proprioception with sub-7 ms latency and spatial alignment. Collecting high-quality demonstrations on high-DoF hands is challenging, as existing teleoperation methods struggle with precision and stability on complex multi-fingered systems. We address this by co-optimizing hand design, perception integration, and teleoperation interface through a universal actuation scheme, custom perception electronics, and two retargeting constraints. We evaluate the platform's hardware, perception, and teleoperation interface. Training a diffusion policy on collected data shows superior performance over prior works, validating the system's capability for reliable, high-quality data collection. The platform is constructed from low-cost and off-the-shelf components and will be made public to ensure reproducibility and ease of adoption. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_07490 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy Wan, Zhaoliang Bi, Zetong Zhou, Zida Ren, Hao Zeng, Yiming Li, Yihan Qi, Lu Yang, Xu Yang, Ming-Hsuan Cheng, Hui Robotics This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware and software platform where the compact 20-DoF hand, robust whole-hand perception, and high-DoF teleoperation interface are jointly designed. Specifically, RAPID Hand adopts a compact and practical hand ontology and a hardware-level perception framework that stably integrates wrist-mounted vision, fingertip tactile sensing, and proprioception with sub-7 ms latency and spatial alignment. Collecting high-quality demonstrations on high-DoF hands is challenging, as existing teleoperation methods struggle with precision and stability on complex multi-fingered systems. We address this by co-optimizing hand design, perception integration, and teleoperation interface through a universal actuation scheme, custom perception electronics, and two retargeting constraints. We evaluate the platform's hardware, perception, and teleoperation interface. Training a diffusion policy on collected data shows superior performance over prior works, validating the system's capability for reliable, high-quality data collection. The platform is constructed from low-cost and off-the-shelf components and will be made public to ensure reproducibility and ease of adoption. |
| title | RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.07490 |