DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song

Keywords: Dexterous Manipulation, Learning from Human, Imitation Learning

TL;DR: We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot hands.

Abstract: We present DexUMI - a data collection and policy learning framework that uses the human hand as the natural interface to transfer dexterous manipulation skills to various robot hands. DexUMI incorporates hardware and software adaptations to minimize the embodiment gap between the human hand and various robot hands. The hardware adaptation bridges the kinematics gap with a wearable hand exoskeleton. It allows direct haptic feedback in manipulation data collection and adapts human motion to feasible robot hand motion. Our software adaptation bridges the visual gap by replacing the human hand in video data with high-fidelity robot hand inpainting. We demonstrate DexUMI's capabilities through comprehensive real-world experiments on two different dexterous robot hand hardware platforms, achieving an average task success rate of 86%.

Submission Number: 7