Learning diverse bimanual dexterous manipulation skills from human demonstrations
Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-
dimensional action space and inherent task complexity present significant challenges for …
dimensional action space and inherent task complexity present significant challenges for …
AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation
Performing general language-conditioned bimanual manipulation tasks is of great
importance for many applications ranging from household service to industrial assembly …
importance for many applications ranging from household service to industrial assembly …
Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish
different real-world manipulation tasks. However, they remain challenging due to partial …
different real-world manipulation tasks. However, they remain challenging due to partial …
Formalization of Temporal and Spatial Constraints of Bimanual Manipulation Categories
Executing bimanual manipulation tasks on humanoid robots introduces additional
challenges due to inherent spatial and temporal coordination between both hands. In our …
challenges due to inherent spatial and temporal coordination between both hands. In our …
In the Wild Ungraspable Object Picking with Bimanual Nonprehensile Manipulation
A Wu, D Kruse - arXiv preprint arXiv:2409.15465, 2024 - arxiv.org
Picking diverse objects in the real world is a fundamental robotics skill. However, many
objects in such settings are bulky, heavy, or irregularly shaped, making them ungraspable …
objects in such settings are bulky, heavy, or irregularly shaped, making them ungraspable …
Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations
In this paper, we present a novel approach for learning bimanual manipulation actions from
human demonstration by extracting spatial constraints between affordance regions, termed …
human demonstration by extracting spatial constraints between affordance regions, termed …