Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot embodiments often requires collecting additional demonstrations. Enabling this in real-world deployment settings requires tools that allow users to collect demonstrations quickly, affordably, and with minimal setup. We present TeleDex, an open-source system for intuitive teleoperation of dexterous hands and robotic manipulators using any readily available phone. The system streams low-latency 6-DoF wrist poses and articulated 21-DoF hand state estimates from the phone, which are retargeted to robot arms and multi-fingered hands without requiring external tracking infrastructure. TeleDex supports both a handheld phone-only mode and an optional 3D-printable hand-mounted interface for finger-level teleoperation. By lowering the hardware and setup barriers to dexterous teleoperation, TeleDex enables users to quickly collect demonstrations during deployment to support policy fine-tuning. We evaluate the system across simulation and real-world manipulation tasks, demonstrating its effectiveness as a unified scalable interface for robot teleoperation. All software and hardware designs, along with demonstration videos, are open-source and available at orayyan.com/teledex.

翻译：尽管数据集规模和模型能力不断提升，机器人操作策略仍难以泛化到训练分布之外。因此，在部署最先进策略到新环境、新任务或新机器人本体时，通常需要额外收集示范数据。为在真实部署场景中实现这一目标，需要能帮助用户快速、低成本且轻量化收集示范数据的工具。我们提出TeleDex，一个开源系统，利用任意现成手机即可直观遥操作灵巧手与机械臂。该系统通过手机实时传输低延迟的6自由度手腕姿态与21自由度手指关节状态估计，经重定向后驱动机械臂与多指灵巧手，无需外部追踪基础设施。TeleDex支持手持手机独立模式与可选的3D打印指套式接口两种操作方式，后者可实现单指级遥操作。通过降低灵巧遥操作在硬件与部署门槛上的壁垒，TeleDex使用户在部署过程中能够快速收集示范数据以支持策略微调。我们在仿真与真实世界操作任务中评估了该系统，验证其作为统一可扩展机器人遥操作界面的有效性。所有软硬件设计及演示视频均以开源形式发布于orayyan.com/teledex。