TeleDex: Accessible Dexterous Teleoperation

teledex is an open-source system that enables the teleoperation of dexterous hands and robot end-effectors in simulation and the real world using commodity smartphones. The system allows the streaming of 6-DoF device poses as well hand state estimates from iOS devices and maps them to appropriate robot control frames. TeleDex supports both a hand-held phone-only mode and an optional 3D-printable hardware interface that extends its usability to dexterous robotic hands. The system is lightweight, requires no external tracking or calibration, and can provide haptic feedback to the operator. We demonstrate its utility across manipulation tasks that require dexterous control as well as reactive, low-latency responses.