diff --git a/README.md b/README.md
index 14bf0574..28070569 100644
--- a/README.md
+++ b/README.md
@@ -2,13 +2,13 @@
机器人技术栈知识库 / Robotics research and engineering wiki.
-
+
[](https://imchong.github.io/Robotics_Notebooks/)
[](https://github.com/ImChong/Robotics_Notebooks/actions/workflows/pages.yml)
[](https://github.com/ImChong/Robotics_Notebooks/actions/workflows/lint.yml)
[](./LICENSE)
-[](https://imchong.github.io/Robotics_Notebooks/graph.html)
+[](https://imchong.github.io/Robotics_Notebooks/graph.html)
[](docs/checklists/tech-stack-next-phase-checklist-v24.md)
diff --git a/docs/exports/graph-stats.json b/docs/exports/graph-stats.json
index 47c32a5e..f9c911da 100644
--- a/docs/exports/graph-stats.json
+++ b/docs/exports/graph-stats.json
@@ -1 +1 @@
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\ No newline at end of file
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diff --git a/docs/exports/home-stats.json b/docs/exports/home-stats.json
index 3066347e..d8a56cd9 100644
--- a/docs/exports/home-stats.json
+++ b/docs/exports/home-stats.json
@@ -1,13 +1,21 @@
{
"generated_at": "2026-06-13",
- "node_count": 1159,
- "edge_count": 7082,
+ "node_count": 1160,
+ "edge_count": 7091,
"coverage": {
- "covered": 1143,
- "total": 1157,
+ "covered": 1144,
+ "total": 1158,
"percent": 99
},
"latest_wiki_nodes": [
+ {
+ "path": "wiki/entities/ruka-v2-hand.md",
+ "detail_id": "entity-ruka-v2-hand",
+ "label": "RUKA-v2 Hand",
+ "type": "entity",
+ "recency": "2026-06-13",
+ "source": "log.md"
+ },
{
"path": "wiki/comparisons/hil-vs-mtrg-vs-zest-parkour-imitation.md",
"detail_id": "wiki-comparisons-hil-vs-mtrg-vs-zest-parkour-imitation",
@@ -159,22 +167,14 @@
"type": "entity",
"recency": "2026-06-12",
"source": "log.md"
- },
- {
- "path": "wiki/entities/asimov-v1.md",
- "detail_id": "entity-asimov-v1",
- "label": "Asimov v1（开源人形机器人仓库）",
- "type": "entity",
- "recency": "2026-06-12",
- "source": "log.md"
}
],
"latest_wiki_node": {
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- "detail_id": "wiki-comparisons-hil-vs-mtrg-vs-zest-parkour-imitation",
- "label": "HIL vs MTRG vs ZEST：跑酷模仿学习路线对比",
- "type": "comparison",
- "recency": "2026-06-12",
+ "path": "wiki/entities/ruka-v2-hand.md",
+ "detail_id": "entity-ruka-v2-hand",
+ "label": "RUKA-v2 Hand",
+ "type": "entity",
+ "recency": "2026-06-13",
"source": "log.md"
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\ No newline at end of file
diff --git a/docs/index.html b/docs/index.html
index 2f1a7bf1..8649bd35 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -41,9 +41,9 @@ 系统学习人形机器人运动控制
把 路线、图谱、模块、论文 串成一套极简导航系统。
- 1159 Nodes ·
- 7082 Links ·
- 1143/1157 Sources
+ 1160 Nodes ·
+ 7091 Links ·
+ 1144/1158 Sources
diff --git a/docs/sw.js b/docs/sw.js
index af8b7cb8..44b080c7 100644
--- a/docs/sw.js
+++ b/docs/sw.js
@@ -1,5 +1,5 @@
// Robotics Notebooks Service Worker — 离线缓存支持
-const CACHE_NAME = 'robotics-wiki-2026-06-12';
+const CACHE_NAME = 'robotics-wiki-2026-06-13';
const ASSETS_TO_CACHE = [
'/Robotics_Notebooks/',
'/Robotics_Notebooks/index.html',
diff --git a/exports/graph-stats.json b/exports/graph-stats.json
index 47c32a5e..f9c911da 100644
--- a/exports/graph-stats.json
+++ b/exports/graph-stats.json
@@ -1 +1 @@
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\ No newline at end of file
+{"generated_at":"2026-06-13","node_count":1160,"edge_count":7091,"community_count":14,"top_hubs":[{"id":"wiki/overview/humanoid-paper-notebooks-index.md","label":"Humanoid Paper Notebooks 知识库索引","degree":432},{"id":"wiki/overview/paper-notebook-category-04-loco-manipulation-and-wbc.md","label":"Paper Notebooks · Loco-Manipulation and WBC","degree":261},{"id":"wiki/concepts/sim2real.md","label":"Sim2Real","degree":203},{"id":"wiki/tasks/locomotion.md","label":"Locomotion","degree":199},{"id":"wiki/methods/reinforcement-learning.md","label":"Reinforcement Learning (RL, 强化学习)","degree":160},{"id":"wiki/overview/humanoid-rl-motion-control-body-system-stack.md","label":"人形机器人 RL 运动控制：身体系统栈视角","degree":153},{"id":"wiki/overview/paper-notebook-category-05-locomotion.md","label":"Paper Notebooks · Locomotion","degree":153},{"id":"wiki/methods/vla.md","label":"VLA（Vision-Language-Action）","degree":145},{"id":"wiki/methods/imitation-learning.md","label":"Imitation Learning (IL, 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\ No newline at end of file
diff --git a/exports/home-stats.json b/exports/home-stats.json
index 3066347e..d8a56cd9 100644
--- a/exports/home-stats.json
+++ b/exports/home-stats.json
@@ -1,13 +1,21 @@
{
"generated_at": "2026-06-13",
- "node_count": 1159,
- "edge_count": 7082,
+ "node_count": 1160,
+ "edge_count": 7091,
"coverage": {
- "covered": 1143,
- "total": 1157,
+ "covered": 1144,
+ "total": 1158,
"percent": 99
},
"latest_wiki_nodes": [
+ {
+ "path": "wiki/entities/ruka-v2-hand.md",
+ "detail_id": "entity-ruka-v2-hand",
+ "label": "RUKA-v2 Hand",
+ "type": "entity",
+ "recency": "2026-06-13",
+ "source": "log.md"
+ },
{
"path": "wiki/comparisons/hil-vs-mtrg-vs-zest-parkour-imitation.md",
"detail_id": "wiki-comparisons-hil-vs-mtrg-vs-zest-parkour-imitation",
@@ -159,22 +167,14 @@
"type": "entity",
"recency": "2026-06-12",
"source": "log.md"
- },
- {
- "path": "wiki/entities/asimov-v1.md",
- "detail_id": "entity-asimov-v1",
- "label": "Asimov v1（开源人形机器人仓库）",
- "type": "entity",
- "recency": "2026-06-12",
- "source": "log.md"
}
],
"latest_wiki_node": {
- "path": "wiki/comparisons/hil-vs-mtrg-vs-zest-parkour-imitation.md",
- "detail_id": "wiki-comparisons-hil-vs-mtrg-vs-zest-parkour-imitation",
- "label": "HIL vs MTRG vs ZEST：跑酷模仿学习路线对比",
- "type": "comparison",
- "recency": "2026-06-12",
+ "path": "wiki/entities/ruka-v2-hand.md",
+ "detail_id": "entity-ruka-v2-hand",
+ "label": "RUKA-v2 Hand",
+ "type": "entity",
+ "recency": "2026-06-13",
"source": "log.md"
}
}
\ No newline at end of file
diff --git a/exports/lint-report.md b/exports/lint-report.md
index 8fe0c32d..b49cd71f 100644
--- a/exports/lint-report.md
+++ b/exports/lint-report.md
@@ -104,4 +104,4 @@
### 💡 陈旧声明（含绝对化措辞但同主题有更晚更新页，建议复核；信息型，不阻塞 CI）（0 个）
- 无
-📊 Sources 覆盖率：1143/1157 (99%) wiki/entity 页有 ingest 来源
+📊 Sources 覆盖率：1144/1158 (99%) wiki/entity 页有 ingest 来源
diff --git a/log.md b/log.md
index 302fc04d..93385571 100644
--- a/log.md
+++ b/log.md
@@ -1,5 +1,7 @@
> 核心规范：所有日常动作（ingest / query / lint / structural）必须追加记录到此文件。
+## [2026-06-13] ingest | sources/papers/ruka_v2_arxiv_2603_26660.md + sources/repos/ruka-v2.md + sources/sites/ruka-hand-v2-github-io.md — NYU 全开源腱驱动灵巧手 RUKA-v2；升格 wiki/entities/ruka-v2-hand.md，交叉 ruka-v1/orca-hand/dexterous-data-collection-guide
+
## [2026-06-12] structural | wiki/comparisons/hil-vs-mtrg-vs-zest-parkour-imitation.md、wiki/queries/table-tennis-hierarchical-skill-learning-guide.md + 5 页陈旧措辞 + 2 页 paper 实体 — 消除 10 条 lint 信息型预警
- 为高频引用 methods 补落地：[`hil-vs-mtrg-vs-zest-parkour-imitation.md`](wiki/comparisons/hil-vs-mtrg-vs-zest-parkour-imitation.md)（覆盖 HIL/MTRG）、[`table-tennis-hierarchical-skill-learning-guide.md`](wiki/queries/table-tennis-hierarchical-skill-learning-guide.md)
diff --git a/sources/README.md b/sources/README.md
index 703b6a3e..92e63b2f 100644
--- a/sources/README.md
+++ b/sources/README.md
@@ -64,6 +64,7 @@
| [x] [now_you_see_that_arxiv_2602_06382.md](papers/now_you_see_that_arxiv_2602_06382.md) | Now You See That：8 步立体深度增广 + 多 critic/discriminator 特权 RL + vision-aware DAgger 蒸馏（arXiv:2602.06382，RSS 2026，HIT/HONOR）摘录与 wiki 映射 |
| [x] [php_parkour_arxiv_2602_15827.md](papers/php_parkour_arxiv_2602_15827.md) | PHP：motion matching 长程跑酷参考 + DAgger+PPO 深度多技能策略（arXiv:2602.15827，RSS 2026，Amazon FAR）摘录与 wiki 映射 |
| [x] [rpl_arxiv_2602_03002.md](papers/rpl_arxiv_2602_03002.md) | RPL：分地形高程专家 + 多视角深度 DAgger 蒸馏 + DFSV/RSM 多向感知行走（arXiv:2602.03002，Amazon FAR / G1）摘录与 wiki 映射 |
+| [x] [ruka_v2_arxiv_2603_26660.md](papers/ruka_v2_arxiv_2603_26660.md) | RUKA-v2：NYU 全开源腱驱动灵巧手（2-DoF 腕 + 指根外展/内收，arXiv:2603.26660）摘录与 wiki 映射 |
| [x] [resmimic_arxiv_2510_05070.md](papers/resmimic_arxiv_2510_05070.md) | ResMimic：GMT 预训练 + 残差后训练的人形全身 loco-manipulation（arXiv:2510.05070，Amazon FAR / G1）摘录与 wiki 映射 |
| [x] [rhythm_arxiv_2603_02856.md](papers/rhythm_arxiv_2603_02856.md) | Rhythm：双 G1 交互全身控制 IAMR + IGRL + MAGIC 数据集（arXiv:2603.02856）摘录与 wiki 映射 |
| [x] [omniretarget_arxiv_2509_26633.md](papers/omniretarget_arxiv_2509_26633.md) | OmniRetarget：interaction mesh + Sequential SOCP 交互保留重定向与增广（ICRA 2026，arXiv:2509.26633；holosoma + HF 数据集）全文消化与 wiki 映射 |
@@ -132,6 +133,7 @@
| [x] [pupperv3_monorepo.md](repos/pupperv3_monorepo.md) | Nate711/pupperv3-monorepo：Pupper v3 机载 ROS 2 软件（与官方文档 ~/pupperv3-monorepo 一致） |
| [x] [esi_bench.md](repos/esi_bench.md) | ESI-Bench/ESI-Bench：OmniGibson 主动探索评测与 HF 数据集（arXiv:2605.18746） |
| [x] [robot_lab.md](repos/robot_lab.md) | robot_lab：基于 IsaacLab 的 RL 扩展框架，支持 26+ 机器人（四足 / 轮足 / 人形） |
+| [x] [ruka-v2.md](repos/ruka-v2.md) | RUKA-v2：NYU 全开源腱驱动灵巧手官方代码（CAD/控制器/校准/遥操作，MIT） |
| [x] [rpl_cs_ucl_sds.md](repos/rpl_cs_ucl_sds.md) | RPL-CS-UCL/SDS：See it, Do it, Sorted 四足单视频技能官方实现（与 E-SDS 同系） |
| [x] [roboto_origin.md](repos/roboto_origin.md) | Roboparty 人形机器人开源聚合入口（硬件/训练/部署/描述/固件） |
| [x] [omg-tsinghua-mars-lab.md](repos/omg-tsinghua-mars-lab.md) | tsinghua-mars-lab/OMG：omni-modal G1 运动生成（OMG-DiT + HoloMotion tracker、训练/推理/部署；配套项目页） |
@@ -293,6 +295,7 @@
| [x] [now-you-see-that-github-io.md](sites/now-you-see-that-github-io.md) | Now You See That 项目页 hellod035.github.io（RSS 2026、深度增广可视化、跑酷/楼梯/平衡恢复实机视频；arXiv:2602.06382） |
| [x] [php-parkour-github-io.md](sites/php-parkour-github-io.md) | PHP 项目页 php-parkour.github.io（RSS 2026、浏览器 MuJoCo demo、跑酷实机视频；配套 arXiv:2602.15827） |
| [x] [rpl-humanoid-github-io.md](sites/rpl-humanoid-github-io.md) | RPL 项目页 rpl-humanoid.github.io（双向楼梯/坡/垫脚石、2 kg 载荷、DFSV/RSM 消融；配套 arXiv:2602.03002） |
+| [x] [ruka-hand-v2-github-io.md](sites/ruka-hand-v2-github-io.md) | RUKA-v2 项目页 ruka-hand-v2.github.io（全开源腱驱动灵巧手、2-DoF 腕、OpenTeach/BAKU 演示；配套 arXiv:2603.26660） |
| [x] [omniretarget-github-io.md](sites/omniretarget-github-io.md) | OmniRetarget 项目页 omniretarget.github.io（ICRA 2026、增广交互演示、GMR/PHC 基线对比；配套 arXiv:2509.26633） |
| [x] [omg-tsinghua-mars-lab-github-io.md](sites/omg-tsinghua-mars-lab-github-io.md) | OMG 项目页 tsinghua-mars-lab.github.io/OMG（清华 MARS Lab omni-modal G1 运动生成、OMG-Data、多模态真机演示） |
| [x] [opendrivelab-robonaldo.md](sites/opendrivelab-robonaldo.md) | RoboNaldo 项目页 opendrivelab.com/RoboNaldo（三阶段射门课程、G1 室外演示与热图；配套 arXiv:2606.11092） |
diff --git a/sources/papers/ruka_v2_arxiv_2603_26660.md b/sources/papers/ruka_v2_arxiv_2603_26660.md
new file mode 100644
index 00000000..2c5045ad
--- /dev/null
+++ b/sources/papers/ruka_v2_arxiv_2603_26660.md
@@ -0,0 +1,86 @@
+# RUKA-v2：Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
+
+> 来源归档（ingest）
+
+- **标题：** Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
+- **类型：** paper（ICRA Workshop 2026；arXiv 预印本）
+- **机构：** New York University；New York University Shanghai
+- **原始链接：**
+ -
+ - （HTML 版便于锚点跳转）
+ - 项目页：
+ - 代码：
+- **入库日期：** 2026-06-13
+- **一句话说明：** NYU 开源 **腱驱动仿人灵巧手 RUKA-v2**：在 v1 基础上增加 **解耦 2-DoF 平行腕** 与 **指根外展/内收**，**硬件/软件/文档全开放**（可改 CAD、3D 打印、装配视频、控制器与校准脚本），材料成本约 **$1,500**；遥操作与 **BAKU** 视觉模仿学习验证 13 项灵巧任务与 3 项自主策略。
+
+## 核心论文摘录（MVP）
+
+### 1) 动机：可及灵巧硬件仍是瓶颈；v1 缺腕与指间外展
+
+- **链接：**
+- **摘录要点：** 社区算法进展快，但 **可复现、可负担的灵巧手** 仍稀缺。2025 年 **RUKA v1**（11 主动 DoF、材料约 **$1,300**）首次 **全开源** 腱驱动人手并引入 **数据驱动 tendon 动力学校准**；缺 **腕部 mobility** 与 **adduction/abduction**，限制 cabinet 内操作、薄物抓取、书写等类人动作。
+- **对 wiki 的映射：**
+ - [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md) — v1→v2 能力增量与成本锚点。
+ - [RUKA（Paper Notebooks 待深读）](../../wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md) — 前代论文索引。
+
+### 2) 硬件：16 主动指 DoF + 2-DoF 平行腕 + 可选磁编码器
+
+- **链接：**
+- **摘录要点：**
+ - **腱驱动**：执行器置于前臂，经腕部 **rotation center 过孔 + 轴承导向板** 路由，减小腕姿变化对腱长的扰动。
+ - **2-DoF 平行腕**：屈伸（flex/ext）与桡/尺偏（radial/ulnar deviation）**独立驱动**；球铰定义公共旋转中心，减少掌部平移与轴间耦合。
+ - **指根外展/内收**：独立 knuckle 模块；**中指固定**作几何参考；单腱 + 弹簧回中。
+ - **可选 DIP–PIP 刚性耦合** addon：提高重复性、简化控制，代价是被动柔顺下降（v1 为软耦合）。
+ - **可拆卸 AS5600 磁编码器套件**：替代昂贵动捕手套做关节角 ground truth 与校准（ESP32 QTPy + I2C mux）。
+ - **E-flesh 指尖**：3D 打印实现软接触；可选触觉。
+ - 论文 Table 1：相对 Allegro / ORCA / Wuji / Sharpa 等，RUKA-v2 标注 **全开源 ✓**、**~$1.5K**、**20/16 DoF**、**2 腕 DoF**、**腱驱动**、**>5 h** 连续运行无热限。
+- **对 wiki 的映射：**
+ - [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md) — 硬件模块与选型对照表。
+
+### 3) 控制：AnyTeleop 向量重定向 + 线性 joint→motor 映射
+
+- **链接：**
+- **摘录要点：** 将 v1 的「重定向 + joint–motor 映射」**解耦**；采用 [AnyTeleop](https://arxiv.org/abs/2305.04564) **vector-based Dex Retargeting** 对齐链段方向；关节角到电机位置用 **分段线性映射**（类似 ORCA），配合 **per-motor 自动校准脚本**（\(p_{\min}\) 为腱初张、\(p_{\max}\) 为机械限位）。
+- **对 wiki 的映射：**
+ - [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md) — 控制栈与数据采集接口。
+ - [灵巧操作数据采集指南](../../wiki/queries/dexterous-data-collection-guide.md) — 低成本开源硬件 + VR 遥操作范例。
+
+### 4) 应用：OpenTeach + Oculus 遥操作；BAKU 三任务模仿学习
+
+- **链接：** –
+- **摘录要点：**
+ - **单臂 10 + 双臂 3** 遥操作任务（Franka 7-DoF + Oculus / OpenTeach）。
+ - **BAKU** 视觉行为克隆：每任务约 **100** 条遥操作示范；观测为 **23D proprio**（7 臂 + 16 手关节）+ 固定相机 RGB；三任务：面包 pick-place、开音乐盒、捡笔（含外展关节）。
+ - 数据收集时对 Franka 与 RUKA-v2 关节注入高斯噪声以丰富 **恢复轨迹**。
+- **对 wiki 的映射：**
+ - [Manipulation](../../wiki/tasks/manipulation.md) — 开源灵巧手 + IL 闭环范例。
+
+### 5) 实验：相对 v1 用户体验 + 热 endurance + 载荷
+
+- **链接：**
+- **摘录要点：**
+ - 相对 **RUKA v1** 用户研究：**完成时间 −51.3%**、**成功率 +21.2%**（遥操作三项任务）。
+ - **5 h** 连续运行：无热关断；腕电机稳态约 **44–45 °C**，指电机更低。
+ - 静态载荷示例：非拇指 DIP–PIP **1200 g/15 s**；腕 supination/pronation **1215 g/20 s**；外展方向 **150 g/15 s**。
+ - 线性控制器平均绝对误差约 **8.26°**（**10.68%** 归一化关节范围）。
+- **对 wiki 的映射：**
+ - [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md) — 工程验收指标读点。
+
+## 当前提炼状态
+
+- [x] §1 动机、§2 硬件（腕/外展/编码器/指尖）、§3 控制与 IL 管线、§4 主实验已摘录到可维护粒度
+- [x] 与 [`sources/repos/ruka-v2.md`](../repos/ruka-v2.md)、[`sources/sites/ruka-hand-v2-github-io.md`](../sites/ruka-hand-v2-github-io.md) 分工：公式与对比表以 arXiv HTML 为准；仓库/README 侧重安装与文件树；项目页侧重演示视频与 BibTeX
+
+## BibTeX（项目页一致）
+
+```bibtex
+@misc{liu2026rukav2tendondrivenopensource,
+ title={Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning},
+ author={Xinqi Lucas Liu and Ruoxi Hu and Alejandro Ojeda Olarte and Zhuoran Chen and Kenny Ma and Charles Cheng Ji and Lerrel Pinto and Raunaq Bhirangi and Irmak Guzey},
+ year={2026},
+ eprint={2603.26660},
+ archivePrefix={arXiv},
+ primaryClass={cs.RO},
+ url={https://arxiv.org/abs/2603.26660},
+}
+```
diff --git a/sources/repos/ruka-v2.md b/sources/repos/ruka-v2.md
new file mode 100644
index 00000000..be357d6e
--- /dev/null
+++ b/sources/repos/ruka-v2.md
@@ -0,0 +1,74 @@
+# RUKA-v2
+
+> 来源归档
+
+- **标题：** RUKA-v2
+- **类型：** repo
+- **来源：** NYU / NYU Shanghai（`ruka-hand-v2` GitHub 组织）
+- **链接：**
+- **License：** MIT
+- **Stars / Forks：** ~7 / 0+（2026-06-13 快照）
+- **入库日期：** 2026-06-13
+- **最近复核：** 2026-06-13
+- **一句话说明：** RUKA-v2 论文配套开源仓库：**3D 打印/CAD、装配说明、控制器、`ruka_hand` Python 包、校准与遥操作脚本**；与 v1 组织 [`ruka-hand/RUKA`](https://github.com/ruka-hand/RUKA) 分离维护。
+- **沉淀到 wiki：** 是 → [`wiki/entities/ruka-v2-hand.md`](../../wiki/entities/ruka-v2-hand.md)
+
+---
+
+## 核心定位
+
+**RUKA-v2** 是 NYU 团队发布的 **全栈开源腱驱动仿人灵巧手** 实现：硬件可 3D 打印复刻，软件提供 **关节空间控制、AnyTeleop 重定向、自动 motor 校准** 与 **OpenTeach 遥操作** 集成示例。项目页：；论文：。
+
+前代 **RUKA v1** 仓库：（2025；11 主动 DoF；材料约 $1,300）。
+
+---
+
+## 安装（README 摘录）
+
+```bash
+git clone --recurse-submodules https://github.com/ruka-hand-v2/RUKA-v2
+cd RUKA-v2
+conda env create -f environment.yml
+conda activate ruka_hand
+pip install -r requirements.txt
+pip install -e .
+```
+
+- 依赖 **Conda** 环境 `ruka_hand`；子模块需 `--recurse-submodules`（含 AnyTeleop 等第三方组件）。
+- 首次使用建议先跑 README 中的 **简单连通/标定脚本** 验证电机与通信，再进入遥操作或策略训练。
+
+---
+
+## 仓库公开内容（截至入库日）
+
+| 类别 | 说明 |
+|------|------|
+| **硬件** | 可修改 **CAD/3D 打印文件**、BOM、分步装配文档与视频（链至项目页） |
+| **控制** | `ruka_hand` 包：线性 joint→motor 映射、per-motor 校准脚本 |
+| **重定向** | 集成 **AnyTeleop** vector-based retargeting（人视频/关键点 → RUKA-v2 关节） |
+| **传感（可选）** | 开源 **磁编码器** 3D 打印件与读取固件，用于校准与 ground truth |
+| **遥操作** | **OpenTeach + Oculus VR** 示例管线（论文演示平台为 Franka 7-DoF） |
+| **仿真** | URDF / 仿真 transfer 演示（项目页视频） |
+| **学习** | 与 **BAKU** 行为克隆框架对接的示范任务与数据格式（见论文 §3.3） |
+
+---
+
+## 与 v1 的主要差异（工程读点）
+
+| 维度 | RUKA v1 | RUKA-v2 |
+|------|---------|---------|
+| 主动 DoF | 11（指/拇指） | 16（指/拇指）+ 2（腕） |
+| 腕 | 无 | 2-DoF 平行腕（flex/ext + radial/ulnar） |
+| 指间外展 | 无 | MCP adduction/abduction（中指固定） |
+| 材料成本 | ~$1,300 | ~$1,500（论文；项目页写 <$2,000） |
+| 校准 | 数据驱动 tendon 模型（偏依赖动捕手套） | 解耦 retargeting + 线性映射 + **可选磁编码器** |
+| 安装侧腕 | 底装为主 | **侧装** 法兰，便于桌面机械臂 |
+
+---
+
+## 对 wiki 的映射
+
+- [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md) — 硬件/软件/学习管线归纳
+- [RUKA（Paper Notebooks 待深读）](../../wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md) — v1 论文索引
+- [Orca Hand](../../wiki/entities/orca-hand.md) — 同类开源腱驱动对照
+- [Manipulation](../../wiki/tasks/manipulation.md) — 任务语境
diff --git a/sources/sites/ruka-hand-v2-github-io.md b/sources/sites/ruka-hand-v2-github-io.md
new file mode 100644
index 00000000..e65e1d9b
--- /dev/null
+++ b/sources/sites/ruka-hand-v2-github-io.md
@@ -0,0 +1,45 @@
+# ruka-hand-v2.github.io（RUKA-v2 项目页）
+
+- **标题：** RUKA-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning — 官方项目页
+- **类型：** site / project-page
+- **URL：**
+- **入库日期：** 2026-06-13
+- **配套论文：** [RUKA-v2（arXiv:2603.26660）](https://arxiv.org/abs/2603.26660) — 归档见 [`sources/papers/ruka_v2_arxiv_2603_26660.md`](../papers/ruka_v2_arxiv_2603_26660.md)
+- **配套代码：**
+
+## 一句话摘要
+
+NYU 团队 **RUKA-v2** 官方站点：**全硬件（3D 打印/CAD）、全软件（控制器/校准/重定向）、全文档（装配/视频）免费开放**；突出 **2-DoF 平行腕**、**指根外展/内收**、OpenTeach VR 遥操作与 BAKU 模仿学习演示。
+
+## 公开信息要点（截至入库日）
+
+- **作者与机构：** Xinqi (Lucas) Liu、Ruoxi Hu 等；**New York University** + **New York University Shanghai**（* equal contribution）；联系：`irmakguzey@nyu.edu`、`rh4073@nyu.edu`（arXiv 页）。
+- ** venue：** ICRA Workshop 2026（项目页标题区）。
+- **开源承诺（摘要原文）：** All 3D print files, assembly instructions, controller software, and videos are **open-sourced**。
+- **硬件亮点（页面分区）：**
+ - **Hardware Design**：16 主动指 DoF + **2-DoF 腕**；材料成本 **<$2,000**（页内表述；论文 Table 1 约 **$1,500**）。
+ - **Wrist Kinematics**：球铰共 pivot + 腱过 rotation center。
+ - **Finger Abduction/Adduction**：独立 knuckle；中指固定。
+- **软件与演示：**
+ - **Controller**：AnyTeleop vector retargeting + linear interpolation；人视频 → URDF 仿真 → 真机 transfer 视频链。
+ - **Single Arm Teleoperation**：OpenTeach + **Oculus VR**；列举 10 项单臂任务（捡笔、书写、开烤箱等）。
+ - **Bimanual Teleoperation**：3 项双臂任务（烤箱取面包、整理、擦桌）。
+ - **Policy Learning**：**BAKU** 视觉 BC；3 任务 rollout 与泛化视频（如笔→塑料刀）。
+ - **Payload Tests**：静态载荷表（DIP–PIP 1200 g/15 s 等）。
+- **BibTeX：** 页脚提供 arXiv:2603.26660 条目。
+
+## 为何值得保留
+
+- **一手入口聚合**：论文、代码、CAD、装配与演示视频均从该页链出，适合作为 curator 核验 **「是否真·全开源」** 的锚点。
+- **任务级证据**：13 遥操作 + 3 IL 任务的视频比摘要更能支撑 **research platform** 定位。
+- **与 v1 对照**：前代站点 / 仓库 `ruka-hand/RUKA` 仍独立；v2 为 **新组织 + 新 DoF 栈**，不宜混为同一 BOM。
+
+## 关联资料
+
+- 论文归档：[`sources/papers/ruka_v2_arxiv_2603_26660.md`](../papers/ruka_v2_arxiv_2603_26660.md)
+- 代码归档：[`sources/repos/ruka-v2.md`](../repos/ruka-v2.md)
+- 前代 RUKA v1：
+
+## 对 wiki 的映射
+
+- [RUKA-v2 Hand](../../wiki/entities/ruka-v2-hand.md)
diff --git a/wiki/entities/orca-hand.md b/wiki/entities/orca-hand.md
index 55c51033..1d9792b6 100644
--- a/wiki/entities/orca-hand.md
+++ b/wiki/entities/orca-hand.md
@@ -2,11 +2,12 @@
type: entity
tags: [manipulation, dexterous-hand, hardware, open-source, biomimetic]
status: complete
-updated: 2026-05-18
+updated: 2026-06-13
related:
- ../tasks/manipulation.md
- ../overview/robot-open-source-wechat-issue01-curator.md
- ./humanoid-robot.md
+ - ./ruka-v2-hand.md
sources:
- ../../sources/blogs/wechat_jixie_robot_open_source_treasury_issue01_10_robots.md
summary: "Orca Hand（虎鲸巧手）：官网开源仿生灵巧手 CAD/BOM、固件与上位机；GitHub 组织 orcahand 聚合实现与示例。"
@@ -43,6 +44,7 @@ summary: "Orca Hand（虎鲸巧手）：官网开源仿生灵巧手 CAD/BOM、
- [Manipulation](../tasks/manipulation.md)
- [机器人开源宝库（微信策展第01期）索引](../overview/robot-open-source-wechat-issue01-curator.md)
- [人形机器人](./humanoid-robot.md)（整机语境下的末端执行器对照）
+- [RUKA-v2 Hand](./ruka-v2-hand.md) — 更低成本、含 2-DoF 腕的全开源腱驱动对照
## 推荐继续阅读
diff --git a/wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md b/wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md
index d2279bcc..de33406d 100644
--- a/wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md
+++ b/wiki/entities/paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md
@@ -2,11 +2,12 @@
type: entity
tags: [paper, humanoid-paper-notebooks, paper-notebook-planned]
status: planned
-updated: 2026-06-11
+updated: 2026-06-13
arxiv: "2504.13165"
related:
- ../overview/paper-notebook-category-12-hardware-design.md
- ../overview/humanoid-paper-notebooks-index.md
+ - ./ruka-v2-hand.md
sources:
- ../../sources/papers/humanoid_pnb_ruka-rethinking-the-design-of-humanoid-hands-wit.md
summary: "RUKA：列入 Paper Notebooks PROGRESS.md 待深读清单；深读笔记完成后升格为完整索引实体。"
@@ -48,6 +49,7 @@ RUKA 的人形机器人学习论文条目，当前处于 Paper Notebooks 阅读
## 与其他页面的关系
+- 后继硬件（本库已 ingest）：[RUKA-v2 Hand](./ruka-v2-hand.md) — 在 v1 基础上增加 **2-DoF 腕** 与 **指根外展/内收**，全栈开源（[ruka-hand-v2.github.io](https://ruka-hand-v2.github.io/)）
- 分类父节点：[paper-notebook-category-12-hardware-design](../overview/paper-notebook-category-12-hardware-design.md)
- 总索引：[humanoid-paper-notebooks-index.md](../overview/humanoid-paper-notebooks-index.md)
diff --git a/wiki/entities/ruka-v2-hand.md b/wiki/entities/ruka-v2-hand.md
new file mode 100644
index 00000000..c3caa0f1
--- /dev/null
+++ b/wiki/entities/ruka-v2-hand.md
@@ -0,0 +1,116 @@
+---
+type: entity
+tags: [manipulation, dexterous-hand, hardware, open-source, tendon-driven, teleoperation, imitation-learning]
+status: complete
+updated: 2026-06-13
+related:
+ - ../tasks/manipulation.md
+ - ../tasks/teleoperation.md
+ - ../queries/dexterous-data-collection-guide.md
+ - ./paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md
+ - ./orca-hand.md
+ - ./allegro-hand.md
+sources:
+ - ../../sources/papers/ruka_v2_arxiv_2603_26660.md
+ - ../../sources/repos/ruka-v2.md
+ - ../../sources/sites/ruka-hand-v2-github-io.md
+summary: "RUKA-v2（NYU）：全栈开源腱驱动仿人灵巧手，16 主动指 DoF + 2-DoF 平行腕 + 指根外展/内收，材料约 1.5K USD；AnyTeleop 重定向 + OpenTeach VR 遥操作 + BAKU 模仿学习已验证。"
+---
+
+# RUKA-v2 Hand
+
+## 一句话定义
+
+**RUKA-v2** 是纽约大学团队发布的 **全硬件、全软件、全文档开源** 腱驱动仿人灵巧手：在 [RUKA v1](./paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md) 基础上增加 **解耦 2-DoF 平行腕** 与 **MCP 外展/内收**，材料成本约 **1,500 USD**；官方入口为项目页 [ruka-hand-v2.github.io](https://ruka-hand-v2.github.io/) 与代码库 [ruka-hand-v2/RUKA-v2](https://github.com/ruka-hand-v2/RUKA-v2)。
+
+## 英文缩写速查
+
+| 缩写 | 英文全称 | 简要说明 |
+|------|----------|----------|
+| DOF | Degrees of Freedom | 独立可控运动轴数量 |
+| MCP | Metacarpophalangeal Joint | 掌指关节，指根屈伸与外展/内收常发生于此 |
+| DIP / PIP | Distal / Proximal Interphalangeal Joint | 远侧 / 近侧指间关节 |
+| BC | Behavior Cloning | 行为克隆，从专家示范监督学习策略 |
+| URDF | Unified Robot Description Format | 统一机器人描述格式，用于仿真与重定向 |
+| VR | Virtual Reality | 虚拟现实，论文遥操作使用 Oculus 头显 |
+
+## 为什么重要
+
+- **可及性：** 相对 Allegro（约 16K USD）、Sharpa（约 50K USD）等，RUKA-v2 以 **3D 打印 + 现货件** 把 **16 主动 DoF + 腕** 压到 **约 1.5K USD** 量级，且论文 Table 1 标注 **硬件与软件均全公开**（✓），适合高校 lab 复刻与改 CAD。
+- **补齐 v1 短板：** v1 缺 **腕** 与 **指间外收**；用户研究显示 v2 遥操作 **完成时间 −51.3%**、**成功率 +21.2%**（相对 v1，三项任务）。
+- **学习闭环已跑通：** 单臂 10 + 双臂 3 遥操作任务，以及 **BAKU** 视觉 BC 三任务（面包 pick-place、开音乐盒、捡笔），证明其作为 **数据采集 + IL 平台** 的可行性。
+- **控制可复现：** 将 retargeting 与 joint→motor 映射 **解耦**；采用 **AnyTeleop 向量重定向** + **线性 motor 映射** + **自动 per-motor 校准**，并开源 **磁编码器** 套件以降低对动捕手套的依赖。
+
+## 硬件要点
+
+| 维度 | 规格（论文/项目页） |
+|------|---------------------|
+| 驱动 | **腱驱动（T）**；电机置于前臂 |
+| 主动 DoF | **16**（指/拇指）+ **2**（腕） |
+| 腕 | **平行 2-DoF**：屈伸 + 桡/尺偏；球铰共 pivot，腱过 rotation center |
+| 外展 | 四指 MCP **adduction/abduction**；**中指固定**作参考 |
+| 结构 | 主体 **3D 打印**；轴承/紧固件/弹簧现货 |
+| 指尖 | **E-flesh** 软接触（3D 打印）；可选触觉 |
+| 传感（可选） | **AS5600 磁编码器** 可拆卸套件（校准与 ground truth） |
+| 安装 | **侧装** 腕法兰，便于桌面 7-DoF 臂 |
+| 成本 | 材料 **约 1,500 USD**（论文）；项目页写 **低于 2,000 USD** |
+| 耐久 | 论文：**>5 h** 连续运行无热限；静态载荷见下表 |
+
+**静态载荷（摘要，15–20 s 保持）：** 非拇指 DIP–PIP **1200 g**；MCP **780 g**；外展 **150 g**；拇指 **835 g**；腕 supination/pronation **1215 g**。
+
+## 软件与学习管线
+
+```mermaid
+flowchart LR
+ A[人演示
视频 / VR 手姿] --> B[AnyTeleop
向量重定向]
+ B --> C[RUKA-v2
关节角 θ]
+ C --> D[线性映射 +
per-motor 校准]
+ D --> E[腱驱动电机指令]
+ E --> F[Franka 7-DoF + RUKA-v2
OpenTeach 遥操作]
+ F --> G[示范数据集
~100 条/任务]
+ G --> H[BAKU 视觉 BC
RGB + proprio]
+ H --> I[自主 rollout]
+```
+
+- **遥操作：** **OpenTeach** + **Oculus VR**；Franka 臂末端轨迹由 OpenTeach IK，手部经上述控制器。
+- **模仿学习：** **BAKU**；观测 **23D proprio**（7 臂 + 16 手）+ 固定相机 **RGB**；收集时对关节加噪声以包含 **恢复行为**。
+- **安装：** `git clone --recurse-submodules` → Conda `ruka_hand` → `pip install -e .`（详见 [sources/repos/ruka-v2.md](../../sources/repos/ruka-v2.md)）。
+
+## 与相近平台对照（论文 Table 1 归纳）
+
+| 平台 | 开源 | 成本量级 | 主动 DoF | 腕 DoF | 驱动 |
+|------|------|----------|----------|--------|------|
+| Allegro V4 | 部分 | 约 16K USD | 16 | 0 | 直驱 |
+| RUKA v1 | ✓ | 约 1.3K USD | 11 | 0 | 腱 |
+| ORCA | ✓ | 约 3.5K USD | 17 | 1 | 腱 |
+| RUKA-v2 | ✓ | 约 1.5K USD | 16 | 2 | 腱 |
+| Wuji Hand | ✗ | 约 5.5K USD | 20 | 0 | 直驱 |
+| Sharpa Wave | ✗ | 约 50K USD | 22 | 0 | 直驱 |
+
+## 常见误区
+
+- **「v2 只是 v1 小改」** — v2 新增 **整腕模块 + 四指外展腱路**，DoF、腱路由与控制栈均变；仓库与 BOM **独立**（`ruka-hand-v2` vs `ruka-hand`）。
+- **「必须买动捕手套才能用」** — v1 偏数据驱动 tendon 标定；v2 **默认 AnyTeleop 视觉重定向 + 线性 motor 映射**，并开源 **磁编码器** 做校准与评测。
+- **「开源 = 只有 STL」** — 团队公开 **可编辑 CAD**、装配视频、控制器与校准脚本；工程上仍需要 **3D 打印与腱张紧** 经验（与多数腱驱动手相同）。
+
+## 关联页面
+
+- [Manipulation](../tasks/manipulation.md) — 灵巧操作任务语境
+- [Teleoperation](../tasks/teleoperation.md) — VR 遥操作采集
+- [灵巧操作数据采集指南](../queries/dexterous-data-collection-guide.md) — 开源手 + 视觉重定向选型
+- [RUKA v1（Paper Notebooks 待深读）](./paper-notebook-ruka-rethinking-the-design-of-humanoid-hands-wit.md)
+- [Orca Hand](./orca-hand.md) — 另一类开源腱驱动仿手
+- [Allegro Hand](./allegro-hand.md) — 直驱科研平台对照
+
+## 推荐继续阅读
+
+- 项目页演示与 BibTeX：
+- 论文 HTML：
+- 代码与安装：
+- 前代 RUKA v1： /
+
+## 参考来源
+
+- [ruka_v2_arxiv_2603_26660.md](../../sources/papers/ruka_v2_arxiv_2603_26660.md)
+- [ruka-v2.md](../../sources/repos/ruka-v2.md)
+- [ruka-hand-v2-github-io.md](../../sources/sites/ruka-hand-v2-github-io.md)
diff --git a/wiki/queries/dexterous-data-collection-guide.md b/wiki/queries/dexterous-data-collection-guide.md
index 5f122e0c..c8144c7a 100644
--- a/wiki/queries/dexterous-data-collection-guide.md
+++ b/wiki/queries/dexterous-data-collection-guide.md
@@ -2,9 +2,10 @@
type: query
tags: [dexterity, data-collection, teleoperation, simulation, robot-hand]
status: complete
-updated: 2026-04-21
+updated: 2026-06-13
related:
- ../entities/allegro-hand.md
+ - ../entities/ruka-v2-hand.md
- ../comparisons/data-gloves-vs-vision-teleop.md
- ../methods/behavior-cloning.md
- ./demo-data-collection-guide.md
@@ -41,7 +42,7 @@ summary: "灵巧操作数据采集指南：介绍了如何利用 Shadow Hand、A
- **原理**：利用手部追踪算法（如 Mediapipe 或专有引擎）实时估计人类操作者的指关节角度，并通过**重定向 (Retargeting)** 映射到灵巧手的 URDF 模型上。
- **优点**：无需佩戴繁琐设备，操作者手部无约束。
- **缺点**：视觉遮挡严重（例如手指重叠时）；缺乏力反馈，操作者很难感知抓握力度。
-- **代表项目**：AnyTeleop, DexCap。
+- **代表项目**：AnyTeleop, DexCap；开源硬件侧 [RUKA-v2 Hand](../entities/ruka-v2-hand.md) 已集成 **AnyTeleop 向量重定向 + OpenTeach/Oculus VR** 遥操作管线。
## 2. 穿戴式数据手套 (Data Gloves)
@@ -67,6 +68,7 @@ summary: "灵巧操作数据采集指南：介绍了如何利用 Shadow Hand、A
## 关联页面
- [Allegro Hand 实体](../entities/allegro-hand.md)
+- [RUKA-v2 Hand 实体](../entities/ruka-v2-hand.md) — 全栈开源腱驱动 + VR 遥操作范例
- [Behavior Cloning](../methods/behavior-cloning.md)
- [多模态融合技巧](./multimodal-fusion-tricks.md)
- [操作演示数据采集总指南](./demo-data-collection-guide.md)
diff --git a/wiki/tasks/manipulation.md b/wiki/tasks/manipulation.md
index 794a8631..dad42cbf 100644
--- a/wiki/tasks/manipulation.md
+++ b/wiki/tasks/manipulation.md
@@ -2,7 +2,7 @@
type: task
tags: [manipulation, il, diffusion-policy, humanoid]
status: draft
-updated: 2026-06-05
+updated: 2026-06-13
related:
- ../entities/physx-omni.md
- ../entities/paper-physforge-physics-grounded-3d-assets.md