Whole-body teleoperation
Tracked wrist motion commands the end effectors, while finger tracking controls the hands. The base and lift move as part of the same coordinated system.
Anonymous ICRA submission
YOR-Dex
An Open-Source Wheeled Humanoid for Dexterous Loco-manipulation
About YOR-Dex
YOR-Dex combines an omnidirectional mobile base, a vertical lift, two seven-degree-of-freedom arms, and interchangeable dexterous hands. Onboard sensing and compute support coordinated whole-body teleoperation, navigation, and autonomous manipulation learned from robot and human demonstrations.
Hardware
Scroll through the robot and inside its base.
YOR-Dex / HardwareFull video ↗
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Complete hardware video 1 min 9 sec
2 × 7 DoFDual arms
90 cmVertical lift travel
4 modulesOmnidirectional swerve base
OnboardSensing & compute
Control and navigation
The controller coordinates the base, lift, and arms to track end-effector targets in the world frame. Onboard mapping supports movement through changing environments.
Mapping & obstacle avoidance
Synchronized map and camera views show the robot navigating around obstacles while updating its map.
Learning
Learning from Robot Demonstrations
Cup pickup and door opening learned from whole-body teleoperation.
Autonomous · 1.5×
Learning from Human Demonstrations
Six household tasks learned from robot-free human demonstrations, shown at normal speed.
Autonomous · 1×
Pretrained Dexterous Grasping
Grasping six objects using Human Universal Grasping, a pretrained RGB-D model.
Autonomous · 2×
Return repeatability
YOR-Dex returns to the same end-effector target after navigating through the lab.
9.4 ± 4.0 mm
Mean 3D end-effector return error
Resources
The bill of materials lists the platform’s parts.