PCHands: PCA-based Hand Pose Retargeting on Manipulators with N-DoF

Paper: PCHands: PCA-based Hand Pose Retargeting on Manipulators with N-DoF (Humanoids 2025)
Authors: En Yen Puang, Federico Ceola, Giulia Pasquale, Lorenzo Natale
Affiliations: Italian Institute of Technology (IIT), University of Genoa
Project Website: https://hsp-iit.github.io/PCHands/
Code: https://github.com/hsp-iit/PCHands/
Download: Alternative download IIT Dataverse

📦 Dataset Description

A collection of human demonstrations in multiple manipulation tasks, using 4 manipulators. This dataset also contains the model checkpoint and normalization for the RL environment:

• Model checkpoint for the CVAE
• Collected teleoperated demonstrations
• Baked demonstrations for RL training
• Normalization stat for RL training

For details usage, see source code. This dataset is publicly released with the referenced Humanoids 2025 publication. Please cite the publication if you find this dataset useful.

Folder Structure

This dataset contains:

• adf: Model checkpoint for the Conditional Variational Auto-Encoder (CVAE)
• rl_scripts/teleop_collection: Collected raw teleoperated demonstration episodes
• rl_scripts/demo: Packed and processed demonstrations
• rl_sim/env/norm: Normalization statistic for RL training

File Naming

Raw Episode:

rl_scripts/teleop_collection/[src_manip_name]/[task_name]/[id].pkl

Processed Demonstration:

rl_scripts/demo/[src_manip_name]/[task_name]_[tgt_manip_name]_[npc].pkl

Normalizing Statistic:

rl_sim/env/norm/[src_manip_name]/[task_name]_[tgt_manip_name]_[npc].npz

• [src_manip_name]: source manipulator name
• [tgt_manip_name]: target manipulator name
• [task_name]: manipulation task name
• [npc]: number of principal component

Usage

Refer to the official GitHub repository PCHands for details usages and source code.

📈 Citation

@inproceedings{puang2025pchands,
  author={Puang, En Yen and Ceola, Federico and Pasquale, Giulia and Natale, Lorenzo},
  booktitle={2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)}, 
  title={PCHands: PCA-Based Hand Pose Synergy Representation on Manipulators with $N$-DoF}, 
  year={2025},
  pages={475-482},
  doi={10.1109/Humanoids65713.2025.11203193}
}