Jessica Yin, Haozhi Qi*, Youngsun Wi*, Sayantan Kundu, Mike Lambeta, William Yang, Changhao Wang, Tingfan Wu, Jitendra Malik, and Tess Hellebrekers

*equal contribution

Project website: jessicayin.github.io/osmo_tactile_glove

ArXiv: https://arxiv.org/abs/2512.08920

Hardware guides and PCB files are on the website branch of this repo.

1. Extract the hamer keypoints: (in osmo env)

conda activate osmo
python data_collect/glove/labs/glove2robot/postprocess/extract_hamer.py <rel_path_to_data> 

• sample data collect for paper can be downloaded via data/download_data.sh (TODO: upload data and update script)

2. Optional but recommended Inspect the extracted keypoints: (in osmo env)

conda activate osmo
python data_collect/glove/scripts/plot_keypoints_with_osmo.py

3. Retarget the hamer keypoints to Psyonic to construct the dataset: (in osmo_kinematics env).

   Requires camera extrinsics represented as a (4,4) rigid transformation matrix to be saved as a .npy file and the path of the file to be provided in labs/glove2robot/config/config_extract_hamer.yaml under camera_calibration

conda activate osmo_kinematics
python data_collect/glove/kinematics/construct_retarget_dataset.py

Osmo Env

conda env create -f conda/osmo.yml

Osmo Kinematics Env

conda env create -f conda/osmo_kinematics.yml

• The most computation-intensive step of the pipeline, we automate processing of multiple experiments using data_collect/glove/labs/glove2robot/config/run_hardcoded_batches.sh

• Used for visually validating the extract hamer keypoints and generating the combined visualization (including the magnetometer readings)

• Retargets the extracted hamer keypoints to Psyonic + Franka kinematics to construct the training dataset

Policy Training and Deployment

If you find this work helpful, please consider citing:

@article{yin2025osmo,
    title={OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer},
    author={Jessica Yin and Haozhi Qi and Youngsun Wi and Sayantan Kundu and Mike Lambeta and William Yang and Changhao Wang and Tingfan Wu and Jitendra Malik and Tess Hellebrekers},
    journal={arXiv:2512.08920},
    year={2025}
}