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MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
Dexterous robotic hands perform complex, contact-rich manipulation. Imitation learning provides a route to such skills, but collecting human demonstrations with accurate hand actions and rich tactile information remains a key bottleneck. We present MILE, a teleoperation-based data-collection system
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