TeleDex: Accessible Dexterous Teleoperation
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866915877374394368 |
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| author | Rayyan, Omar Gilles, Maximilian Cui, Yuchen |
| author_facet | Rayyan, Omar Gilles, Maximilian Cui, Yuchen |
| contents | Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot embodiments often requires collecting additional demonstrations. Enabling this in real-world deployment settings requires tools that allow users to collect demonstrations quickly, affordably, and with minimal setup. We present TeleDex, an open-source system for intuitive teleoperation of dexterous hands and robotic manipulators using any readily available phone. The system streams low-latency 6-DoF wrist poses and articulated 21-DoF hand state estimates from the phone, which are retargeted to robot arms and multi-fingered hands without requiring external tracking infrastructure. TeleDex supports both a handheld phone-only mode and an optional 3D-printable hand-mounted interface for finger-level teleoperation. By lowering the hardware and setup barriers to dexterous teleoperation, TeleDex enables users to quickly collect demonstrations during deployment to support policy fine-tuning. We evaluate the system across simulation and real-world manipulation tasks, demonstrating its effectiveness as a unified scalable interface for robot teleoperation. All software and hardware designs, along with demonstration videos, are open-source and available at orayyan.com/teledex. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_17065 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | TeleDex: Accessible Dexterous Teleoperation Rayyan, Omar Gilles, Maximilian Cui, Yuchen Robotics Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot embodiments often requires collecting additional demonstrations. Enabling this in real-world deployment settings requires tools that allow users to collect demonstrations quickly, affordably, and with minimal setup. We present TeleDex, an open-source system for intuitive teleoperation of dexterous hands and robotic manipulators using any readily available phone. The system streams low-latency 6-DoF wrist poses and articulated 21-DoF hand state estimates from the phone, which are retargeted to robot arms and multi-fingered hands without requiring external tracking infrastructure. TeleDex supports both a handheld phone-only mode and an optional 3D-printable hand-mounted interface for finger-level teleoperation. By lowering the hardware and setup barriers to dexterous teleoperation, TeleDex enables users to quickly collect demonstrations during deployment to support policy fine-tuning. We evaluate the system across simulation and real-world manipulation tasks, demonstrating its effectiveness as a unified scalable interface for robot teleoperation. All software and hardware designs, along with demonstration videos, are open-source and available at orayyan.com/teledex. |
| title | TeleDex: Accessible Dexterous Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.17065 |