{"ID":2867244,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.19169","arxiv_id":"2509.19169","title":"MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap","abstract":"The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a \"domain gap\" in sensing and morphology. This paper introduces MagiClaw, a versatile two-finger end-effector designed to bridge this gap. MagiClaw functions interchangeably as both a handheld tool for intuitive data collection and a robotic end-effector for policy deployment, ensuring hardware consistency and reliability. Each finger incorporates a Soft Polyhedral Network (SPN) with an embedded camera, enabling vision-based estimation of 6-DoF forces and contact deformation. This proprioceptive data is fused with exteroceptive environmental sensing from an integrated iPhone, which provides 6D pose, RGB video, and LiDAR-based depth maps. Through a custom iOS application, MagiClaw streams synchronized, multi-modal data for real-time teleoperation, offline policy learning, and immersive control via mixed-reality interfaces. We demonstrate how this unified system architecture lowers the barrier to collecting high-fidelity, contact-rich datasets and accelerates the development of generalizable manipulation policies. Please refer to the iOS app at https://apps.apple.com/cn/app/magiclaw/id6661033548 for further details.","short_abstract":"The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a \"domain gap\" in sensing and morphology. This paper introduces MagiClaw, a versatile two-finger end-effector designed to bridge this gap. MagiClaw functions interchangeably as both a handheld tool for intuitive data...","url_abs":"https://arxiv.org/abs/2509.19169","url_pdf":"https://arxiv.org/pdf/2509.19169v1","authors":"[\"Tianyu Wu\",\"Xudong Han\",\"Haoran Sun\",\"Zishang Zhang\",\"Bangchao Huang\",\"Chaoyang Song\",\"Fang Wan\"]","published":"2025-09-23T15:43:28Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","project_urls":"[\"https://apps.apple.com/cn/app/magiclaw/id6661033548\"]","has_code":false}