Tech · Hugging Face
Grabette: an open system to record robot-manipulation data
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Robot learning has a supply problem.
Key facts
- A human hand, a gripper, a camera, and a way to recover the 6-DoF trajectory of what the hand
- Demonstrations are stored as camera-local 6-DoF cartesian pose plus gripper state, the output is a standard LeRobot dataset on the Hugging Face Hub, so the same data can drive different robots
- Other (closed source) devices exists like Agibot's MEgo gripper, Genrobot's DAS gripper and Sunday Robotics skill capture glove
- A Raspberry Pi, a standard Pi camera, an off-the-shelf OAK-D depth camera, magnetic encoders
Summary
Teleoperating a robot to collect it can be expensive and demanding: first of all, it requires a robot. But you don't need a robot to collect robot data. That's what they're releasing today: Grabette, an open, low-cost system for recording manipulation data. And that's the bigger goal: if recording a demonstration is as easy as shooting a video, anyone can contribute.