OpenArm

“When H2RB is combined with large-scale heterogeneous training across multiple embodiments (14,548 episodes, 5M+ frames from EgoDex, in-house human data, OpenArm, and ALLEX robot data), performance improves further — skill transfer rises from 62.7 to 81.7, and object transfer from 51.8 to 57.2”

“"an OpenArm bimanual platform equipped with two Inspire RH56F1 dexterous hands" (Appendix B)”

“The heterogeneous training experiment (Section 3.3, Appendix D) used 14,548 episodes across 5 data sources (EgoDex, in-house human, single-hand OpenArm, bimanual OpenArm, ALLEX robot)”