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Hugging FaceSteve Nguyen, Claire Houziel, Gaelle Lannuzel, Simon Le Goff, Jeremy Laville, ÉtienneAnnouncement
Grabette: an open system to record robot-manipulation data
Summary
Grabette is an open, low-cost system for recording robot-manipulation data without requiring a robot, lab, or teleoperation rig. It uses a handheld gripper with a wide fisheye observation camera, an RGBD tracking camera, an IMU, and gripper encoders to capture synchronized demonstrations and recover camera-local 6-DoF Cartesian pose plus gripper state. Users save episodes on a Raspberry Pi, then select them in a browser dashboard for upload, RTAB-MAP SLAM, trajectory verification, and conversion into a LeRobot dataset on the Hugging Face Hub. The release also includes a motorized Gripette gripper and an example that trains a Diffusion Policy on 200 demonstrations and evaluates it on an OpenArm 7-DoF arm via gRPC, demonstrating the recording-to-training workflow.
Context
Robot learning is constrained by the shortage of large, diverse, real-world manipulation data. Conventional teleoperation can require expensive hardware and make data collection tedious and difficult to scale across tasks and environments.
Approach / What changed
Grabette captures demonstrations with a handheld gripper using synchronized observation, RGBD tracking, IMU, and encoder data. A Raspberry Pi stores episodes, while a browser-based pipeline uploads them, runs RTAB-MAP SLAM and trajectory checks, and converts them into standard LeRobot datasets. The accompanying Gripette motorized gripper supports execution on a real or simulated robot arm.
Takeaways
Grabette records camera-local 6-DoF Cartesian pose and gripper state in a robot-agnostic format that is converted to standard LeRobot datasets.
The capture workflow combines a wide fisheye camera for policy observations with an RGBD camera for 6-DoF tracking, plus synchronized IMU and encoder data.
An included example trains a Diffusion Policy from 200 demonstrations and evaluates it on an OpenArm 7-DoF arm using the Gripette gripper and a gRPC API.
Source and freshness
- Source
- huggingface.co
- Published
- Added to Yomu
- Last updated
Summaries are generated from the original by a language model. Check the original before relying on it.
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