---
license: cc-by-4.0
task_categories:
- robotics
pretty_name: PCHands
size_categories:
- n<1K
---

# PCHands: PCA-based Hand Pose Retargeting on Manipulators with <i>N</i>-DoF

**Paper**: [PCHands: PCA-based Hand Pose Retargeting on Manipulators with <i>N</i>-DoF (Humanoids 2025)](https://arxiv.org/abs/2508.07945)  
**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/](https://hsp-iit.github.io/PCHands/)  
**Code**: [https://github.com/hsp-iit/PCHands/](https://github.com/hsp-iit/PCHands/)  
**Download**: Alternative download [IIT Dataverse](https://dataverse.iit.it/dataset.xhtml?persistentId=doi:10.48557/3GWSE7)


## 📦 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:
<ul>
<li>Model checkpoint for the CVAE</li>
<li>Collected teleoperated demonstrations</li>
<li>Baked demonstrations for RL training</li>
<li>Normalization stat for RL training</li>
</ul>
For details usage, see <a href="https://github.com/hsp-iit/PCHands">source code</a>.
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](https://github.com/hsp-iit/PCHands) for details usages and source code.



## 📈 Citation

```bibtex
@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}
}
```