{"type":"ScholarlyArticle","title":"RealDex: Towards Human-like Grasping for Robotic Dexterous Hand","authors":[{"name":"Yumeng Liu","slug":"yumeng-liu","given":"Yumeng","family":"Liu","affiliation":"ShanghaiTech University ,; The University of Hong Kong ,"},{"name":"Yaxun Yang","slug":"yaxun-yang","given":"Yaxun","family":"Yang","affiliation":"ShanghaiTech University ,"},{"name":"Youzhuo Wang","slug":"youzhuo-wang","given":"Youzhuo","family":"Wang","affiliation":"ShanghaiTech University ,"},{"name":"Xiaofei Wu","slug":"xiaofei-wu","given":"Xiaofei","family":"Wu","affiliation":"ShanghaiTech University ,"},{"name":"Jiamin Wang","slug":"jiamin-wang","given":"Jiamin","family":"Wang","affiliation":"ShanghaiTech University ,"},{"name":"Yichen Yao","slug":"yichen-yao","given":"Yichen","family":"Yao","affiliation":"ShanghaiTech University ,"},{"name":"Sören Schwertfeger","slug":"soren-schwertfeger","given":"Sören","family":"Schwertfeger","affiliation":"ShanghaiTech University ,"},{"name":"Sibei Yang","slug":"sibei-yang","given":"Sibei","family":"Yang","affiliation":"ShanghaiTech University ,"},{"name":"Wenping Wang","slug":"wenping-wang","given":"Wenping","family":"Wang","affiliation":"Texas A&M University"},{"name":"Jingyi Yu","slug":"jingyi-yu","given":"Jingyi","family":"Yu","affiliation":"ShanghaiTech University ,"},{"name":"Xuming He","slug":"xuming-he","given":"Xuming","family":"He","affiliation":"ShanghaiTech University ,"},{"name":"Yuexin Ma","slug":"yuexin-ma","given":"Yuexin","family":"Ma","affiliation":"ShanghaiTech University ,"}],"abstract":"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/.","doi":"10.24963/ijcai.2024/758","url":"https://ijcai.org/proceedings/2024/758","pdf":"https://ijcai.org/proceedings/2024/0758.pdf","markdown":"https://ijcai.org/proceedings/2024/758.md","bibtex":"https://ijcai.org/proceedings/2024/bibtex/758","volume":{"slug":"2024","title":"Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2024","url":"https://ijcai.org/proceedings/2024/","year":2024,"location":"Jeju, Korea","dates":"3-9 August 2024","editors":"Kate Larson","isbn":"978-1-956792-04-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2024"},"section":"Robotics","track":"Main Track","number":758,"pages":{"first":6859,"last":6867},"keywords":["Robotics: ROB: Robotics and vision","Robotics: ROB: Manipulation","Robotics: ROB: Learning in robotics"],"videos":[],"references":[{"position":1,"raw":"[3D, 2018] Shining 3D. 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