ORCA: A Platform for Open-Source Dexterity Research
Robotics manipulation research increasingly focuses on two-finger parallel grippers for their effectiveness, affordability, and ease of teleoperation. Grippers are nonetheless limited by their form factor, often requiring bimanual setups even for simple reorientation tasks. Anthropomorphic hands are a more natural platform for dexterous robot learning -- closer to the human hand, and capable of learning from human video -- yet they remain hard to use in learning research: even where open and accessible hand hardware exists, the software for control, simulation, teleoperation, and retargeting is scattered in one-off code bases, and largely disconnected from the robot-learning ecosystem. In...
| Authors | Francesco Capuano, Maximilian Eberlein, Fabrice Bourquin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 June 2026 |
| Last updated at source | 12 June 2026 |
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