MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866912703845498880 |
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| author | Tai, Cong Wu, Hansheng Long, Haixu Long, Zhengbin Zheng, Zhaoyu Xiang, Haodong Shen, Tao |
| author_facet | Tai, Cong Wu, Hansheng Long, Haixu Long, Zhengbin Zheng, Zhaoyu Xiang, Haodong Shen, Tao |
| contents | In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of cost-effectiveness. The framework is natively compatible with the RealMirror ecosystem, offering ready-to-use functionality for stable and precise robotic trajectory recording within the Isaac simulation environment, thereby facilitating the construction of Vision-Language-Action (VLA) datasets. Additionally, the system supports real-time teleoperation of a variety of end-effector-equipped robots, including dexterous hands and robotic grippers. This work aims to lower the technical barriers in the study of upper-limb robotic manipulation, thereby accelerating advancements in VLA-related research. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_08865 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror Tai, Cong Wu, Hansheng Long, Haixu Long, Zhengbin Zheng, Zhaoyu Xiang, Haodong Shen, Tao Robotics Human-Computer Interaction In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of cost-effectiveness. The framework is natively compatible with the RealMirror ecosystem, offering ready-to-use functionality for stable and precise robotic trajectory recording within the Isaac simulation environment, thereby facilitating the construction of Vision-Language-Action (VLA) datasets. Additionally, the system supports real-time teleoperation of a variety of end-effector-equipped robots, including dexterous hands and robotic grippers. This work aims to lower the technical barriers in the study of upper-limb robotic manipulation, thereby accelerating advancements in VLA-related research. |
| title | MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2511.08865 |