MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
MILE introduces a system combining a human-first exoskeleton and a robotic hand with fingertip sensors to collect data for dexterous manipulation learning. It establishes mechanical correspondence between the two systems across 17 joints, allowing direct joint-space command transfer. Experiments show that incorporating tactile input significantly improves autonomous policy performance in tasks like picking and placing objects.