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Three demos showing SharpaWave’s fine manipulation under high-fidelity teleoperation. Task No.1: putting on a trash bag. With teleoperation and tactile feedback, it finds the rim, opens it, and wraps it neatly — even on a slippery, deformable object. #Sharpa #SharpaWave #Teleoperation #Tactile #DexterousHand

Sharpa

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79,889 Aufrufe • vor 7 Monaten •via X (Twitter)

#Sharpa #SharpaWave

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RL-trained in-hand skills, such as grasp stability and object rotation are used to assist teleoperation. Teleoperation data is then used to train a VLA that fuses force and tactile feedback to generate actions. Humanoid hardware: Sharpa Paper:

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Another reason I’m interested in UMI style grippers is that tasks that‘d take 10s for a human take 5x as long with teleoperation. The lack of haptic and force feedback makes it hard to do movements relying on them like here, passing an object from one hand to another. Adding to that: teleoperation means you’re standing a meter away from the objects you’re operating on, and here for example, the box is obstructing the view of the PCBs. Thank you for great teleoperation Felix Neumann 🤝

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