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Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inherent in coordinating a high-dimensional bimanual system.
Manipulation Gaits: Sequences of Grasp Control Tasks
R. Platt, A. H. Fagg, and R. A. Grupen · 2004
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A humanoid two-arm system for dexterous manipulation
C. Ott, O. Eiberger, W. Friedl, B. Bauml, U. Hillenbrand, C. Borst, A. Albu-Schaffer, B. Brunner, H. Hirschmuller, S. Kielhofer, R. Konietschke, M. Suppa, T. Wimbock, F. Zacharias, and G. Hirzinger · 2006
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Impedance behaviors for two-handed manipulation: Design and experiments
T. Wimbock, C. Ott, and G. Hirzinger · 2007
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Bimanual grasp planning
N. Vahrenkamp, M. Przybylski, T. Asfour, and R. Dillmann · 2011
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Dual arm manipulation - a survey
C. Smith, Y. Karayiannidis, L. Nalpantidis, X. Gratal, P. Qi, D. V. Dimarogonas, and D. Kragic · 2012
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Peabody Developmental Motor Scales
R. Watling · 2013
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Bimanual compliant tactile exploration for grasping unknown objects
N. Sommer, M. Li, and A. Billard · 2014
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High-dimensional continuous control using generalized advantage estimation
J. Schulman, P. Moritz, S. Levine, M. Jordan, and P. Abbeel · 2015
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Fast and accurate deep network learning by exponential linear units
D.-A. Clevert, T. Unterthiner, and S. Hochreiter · 2015
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Asymmetric bimanual control of dual-arm exoskeletons for human-cooperative manipulations
Z. Li, B. Huang, A. Ajoudani, C. Yang, C.-Y. Su, and A. Bicchi · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Shared-autonomy control for intuitive bimanual tele-manipulation
M. Laghi, M. Maimeri, M. Marchand, C. Leparoux, M. Catalano, A. Ajoudani, and A. Bicchi · 2018
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Asymmetric actor critic for image-based robot learning
L. Pinto, M. Andrychowicz, P. Welinder, W. Zaremba, and P. Abbeel · 2018
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Caring for Your Baby and Young Child: Birth to Age 5
A. A. O. Pediatrics · 2019
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Solving rubik’s cube with a robot hand
OpenAI, I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang · 2019
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Leveraging multimodal haptic sensory data for robust cutting
K. Zhang, M. Sharma, M. Veloso, and O. Kroemer · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Exploration by random network distillation
Y. Burda, H. Edwards, A. Storkey, and O. Klimov · 2019
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Benchmark for bimanual robotic manipulation of semi-deformable objects
K. Chatzilygeroudis, B. Fichera, I. Lauzana, F. Bu, K. Yao, F. Khadivar, and A. Billard · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 2020
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A system for general in-hand object re-orientation
T. Chen, J. Xu, and P. Agrawal · 2021
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Bimanual regrasping for suture needles using reinforcement learning for rapid motion planning
Z.-Y. Chiu, F. Richter, E. K. Funk, R. K. Orosco, and M. C. Yip · 2021
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The kit bimanual manipulation dataset
F. Krebs, A. Meixner, I. Patzer, and T. Asfour · 2021
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021
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Factory: Fast contact for robotic assembly
Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Y. Qin, W. Yang, B. Huang, K. Van Wyk, H. Su, X. Wang, Y.-W. Chao, and D. Fox · 2023
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Sampling-based exploration for reinforcement learning of dexterous manipulation
G. Khandate, S. Shang, E. T. Chang, T. L. Saidi, J. Adams, and M. Ciocarlie · 2023
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Dextrous tactile in-hand manipulation using a modular reinforcement learning architecture
J. Pitz, L. Rostel, L. Sievers, and B. Bauml · 2023
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General in-hand object rotation with vision and touch
H. Qi, B. Yi, Y. Ma, S. Suresh, M. Lambeta, R. Calandra, and J. Malik · 2023
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Estimator-coupled reinforcement learning for robust purely tactile in-hand manipulation
L. Rostel, J. Pitz, L. Sievers, and B. Bauml · 2023
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Y. Narang, K. Storey, I. Akinola, M. Macklin, P. Reist, L. Wawrzyniak, Y. Guo, A. Moravanszky, G. State, M. Lu, A. Handa, and D. Fox · 2022
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A bimanual manipulation taxonomy
F. Krebs and T. Asfour · 2022
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A system for imitation learning of contact-rich bimanual manipulation policies
S. Stepputtis, M. Bandari, S. Schaal, and H. B. Amor · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2022
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In-hand object rotation via rapid motor adaptation
H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 2022
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Bi-manual manipulation and attachment via sim-to-real reinforcement learning
S. Kataoka, S. K. S. Ghasemipour, D. Freeman, and I. Mordatch · 2022
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Towards human-level bimanual dexterous manipulation with reinforcement learning
Y. Chen, T. Wu, S. Wang, X. Feng, J. Jiang, Z. Lu, S. McAleer, H. Dong, S.-C. Zhu, and Y. Yang · 2022
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Z.-H. Yin, B. Huang, Y. Qin, Q. Chen, and X. Wang · 2023
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Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
Y. Chen, C. Wang, L. Fei-Fei, and C. K. Liu · 2023
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Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
S. Suresh, H. Qi, T. Wu, T. Fan, L. Pineda, M. Lambeta, J. Malik, M. Kalakrishnan, R. Calandra, M. Kaess, J. Ortiz, and M. Mukadam · 2023
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Bi-touch: Bimanual tactile manipulation with sim-to-real deep reinforcement learning
Y. Lin, A. Church, M. Yang, H. Li, J. Lloyd, D. Zhang, and N. F. Lepora · 2023
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Efficient bimanual handover and rearrangement via symmetry-aware actor-critic learning
Y. Li, C. Pan, H. Xu, X. Wang, and Y. Wu · 2023
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Robopianist: Dexterous piano playing with deep reinforcement learning
K. Zakka, P. Wu, L. Smith, N. Gileadi, T. Howell, X. B. Peng, S. Singh, Y. Tassa, P. Florence, A. Zeng, et al · 2023
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Dynamic handover: Throw and catch with bimanual hands
B. Huang, Y. Chen, T. Wang, Y. Qin, Y. Yang, N. Atanasov, and X. Wang · 2023
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Mimex: Intrinsic rewards from masked input modeling
T. Lin and A. Jabri · 2023
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Segment anything
A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, P. Dollár, and R. Girshick · 2023
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Learning visuotactile skills with two multifingered hands
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
C. Wang, H. Shi, W. Wang, R. Zhang, L. Fei-Fei, and C. K. Liu · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
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Open-television: Teleoperation with immersive active visual feedback
X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang · 2024
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URL https://www.shadowrobot.com/teleoperation/
Jun 2024 · 2024
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Robot synesthesia: In-hand manipulation with visuotactile sensing
Y. Yuan, H. Che, Y. Qin, B. Huang, Z.-H. Yin, K.-W. Lee, Y. Wu, S.-C. Lim, and X. Wang · 2024
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