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Bimanual manipulation is a longstanding challenge in robotics due to the large number of degrees of freedom and the strict spatial and temporal synchronization required to generate meaningful behavior.
Fundamentals of general-purpose remote manipulators
Raymond C Goertz · 1952
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Phase transitions and critical behavior in human bimanual coordination
J. A. Scott Kelso · 1984
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Asymmetric division of labor in human skilled bimanual action: The kinematic chain as a model
Yves Guiard · 1987
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Experiments in dual-arm manipulation planning
Yoshihito Koga and J-C Latombe · 1992
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Coordinated control of multiple manipulator systems
Ping Hsu · 1993
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Learning in the development of infant locomotion
Karen E Adolph, Bennett I Bertenthal, Steven M Boker, Eugene C Goldfield, and Eleanor J Gibson · 1997
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Primary motor cortex is involved in bimanual coordination
Opher Donchin, A. D. Gribova, Orna Steinberg, Hagai Bergman, and Eilon Vaadia · 1998
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Neural activity of supplementary and primary motor areas in monkeys and its relation to bimanual and unimanual movement sequences
O. V. Kazennikov, Brian I. Hyland, Michel R. Corboz, Alexandre Babalian, Eric M. Rouiller, and Mario Wiesendanger · 1999
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IEEE Intelligent Systems and Their Applications , 15(4):57–63, 2000
Robonaut: Nasa’s space humanoid · 2000
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Intrinsic motivation for encouraging synergistic behavior
Rohan Chitnis, Shubham Tulsiani, Saurabh Gupta, and Abhinav Gupta · 2002
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Programming by demonstration: dual-arm manipulation tasks for humanoid robots
R Zollner, Tamim Asfour, and Rüdiger Dillmann · 2004
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Developmental changes in unimanual and bimanual aiming movements
Jérôme Barral, Bettina Debû, and Christina Rival · 2006
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Understanding human hands in contact at internet scale
Dandan Shan, Jiaqi Geng, Michelle Shu, and David F. Fouhey · 2006
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Combining dynamical systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot
Elena Gribovskaya and Aude Billard · 2008
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Imitation learning of dual-arm manipulation tasks in humanoid robots
Tamim Asfour, Pedram Azad, Florian Gyarfas, and Rüdiger Dillmann · 2008
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Springer handbook of robotics , volume 200
Bruno Siciliano, Oussama Khatib, and Torsten Kröger · 2008
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Humanoid motion planning for dual-arm manipulation and re-grasping tasks
Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rüdiger Dillmann · 2009
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A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: The stack of tasks
Nicolas Mansard, Olivier Stasse, Paul Evrard, and Abderrahmane Kheddar · 2009
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Operating articulated objects based on experience
Jürgen Sturm, Advait Jain, Cyrill Stachniss, Charles C Kemp, and Wolfram Burgard · 2010
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Towards autonomous robotic butlers: Lessons learned with the pr2
Jonathan Bohren, Radu Bogdan Rusu, E. Gil Jones, Eitan Marder-Eppstein, Caroline Pantofaru, Melonee Wise, Lorenz Mösenlechner, Wim Meeussen, and Stefan Holzer · 2011
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Dual arm manipulation—a survey
Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V Dimarogonas, and Danica Kragic · 2012
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Statistical dynamical systems for skills acquisition in humanoids
Sylvain Calinon, Zhibin Li, Tohid Alizadeh, Nikos G Tsagarakis, and Darwin G Caldwell · 2012
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Path integral policy improvement with covariance matrix adaptation
Freek Stulp and Olivier Sigaud · 2012
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Single-and dual-arm motion planning with heuristic search
Benjamin Cohen, Sachin Chitta, and Maxim Likhachev · 2014
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Coupling movement primitives: Interaction with the environment and bimanual tasks
Andrej Gams, Bojan Nemec, Auke Jan Ijspeert, and Aleš Ude · 2014
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Towards learning hierarchical skills for multi-phase manipulation tasks
Oliver Kroemer, Christian Daniel, Gerhard Neumann, Herke van Hoof, and Jan Peters · 2015
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Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems
Joao Silvério, Leonel Rozo, Sylvain Calinon, and Darwin G Caldwell · 2015
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Learning bimanual coordinated tasks from human demonstrations
Ana-Lucia Pais Ureche and Aude Billard · 2015
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3d shapenets: A deep representation for volumetric shapes
Zhirong Wu, Shuran Song, Aditya Khosla, Fisher Yu, Linguang Zhang, Xiaoou Tang, and Jianxiong Xiao · 2015
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Manipulation complexity in primates coevolved with brain size and terrestriality
Sandra A Heldstab, Zaida K Kosonen, Sonja E Koski, Judith M Burkart, Carel P van Schaik, and Karin Isler · 2016
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Learning manipulation by sequencing motor primitives with a two-armed robot
Rudolf Lioutikov, Oliver Kroemer, Guilherme Maeda, and Jan Peters · 2016
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Pointnet: Deep learning on point sets for 3d classification and segmentation
Charles R Qi, Hao Su, Kaichun Mo, and Leonidas J Guibas · 2016
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An adaptive control approach for opening doors and drawers under uncertainties
Yiannis Karayiannidis, Christian Smith, Francisco Eli Vina Barrientos, Petter Ögren, and Danica Kragic · 2016
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Extracting bimanual synergies with reinforcement learning
Kevin Sebastian Luck and Heni Ben Amor · 2017
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Towards human-level bimanual dexterous manipulation with reinforcement learning
Yuanpei Chen, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuan Jiang, Zongqing Lu, Stephen McAleer, Hao Dong, Song-Chun Zhu, and Yaodong Yang · 2022
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A bimanual manipulation taxonomy
Franziska Krebs and Tamim Asfour · 2022
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Learning temporal task models from human bimanual demonstrations
Christian RG Dreher and Tamim Asfour · 2022
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Speedfolding: Learning efficient bimanual folding of garments
Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, and Ken Goldberg · 2022
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Fabricflownet: Bimanual cloth manipulation with a flow-based policy
Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, and David Held · 2022
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Flingbot: The unreasonable effectiveness of dynamic manipulation for cloth unfolding
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Learning complex manipulation tasks from heterogeneous and unstructured demonstrations
Nadia Figueroa and Aude Billard · 2017
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Compliant movement primitives in a bimanual setting
Aleksandar Batinica, Bojan Nemec, Aleš Ude, Mirko Raković, and Andrej Gams · 2017
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Modern robotics
Kevin M Lynch and Frank C Park · 2017
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Cross-modal interpretation of multi-modal sensor streams in interactive perception based on coupled recursion
Roberto Martín-Martín and Oliver Brock · 2017
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Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes
Adrià Colomé and Carme Torras · 2018
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Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior
Lucia Pais Ureche and Aude Billard · 2018
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, and Michael Wray · 2018
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Huy Ha and Shuran Song · 2022
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Learning bimanual scooping policies for food acquisition
Jennifer Grannen, Yilin Wu, Suneel Belkhale, and Dorsa Sadigh · 2022
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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Vip: Towards universal visual reward and representation via value-implicit pre-training
Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, and Amy Zhang · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Dexvip: Learning dexterous grasping with human hand pose priors from video
Priyanka Mandikal and Kristen Grauman · 2022
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Human-to-robot imitation in the wild
Shikhar Bahl, Abhinav Gupta, and Deepak Pathak · 2022
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Adaafford: Learning to adapt manipulation affordance for 3d articulated objects via few-shot interactions
Yian Wang, Ruihai Wu, Kaichun Mo, Jiaqi Ke, Qingnan Fan, Leonidas J Guibas, and Hao Dong · 2022
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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 2022
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Interactive imitation learning of bimanual movement primitives
Giovanni Franzese, Leandro de Souza Rosa, Tim Verburg, Luka Peternel, and Jens Kober · 2023
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Bag all you need: Learning a generalizable bagging strategy for heterogeneous objects, 2023
Arpit Bahety, Shreeya Jain, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, and Shuran Song · 2023
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Stabilize to act: Learning to coordinate for bimanual manipulation
Jennifer Grannen, Yilin Wu, Brandon Vu, and Dorsa Sadigh · 2023
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Liv: Language-image representations and rewards for robotic control
Yecheng Jason Ma, William Liang, Vaidehi Som, Vikash Kumar, Amy Zhang, Osbert Bastani, and Dinesh Jayaraman · 2023
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Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2023
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Videodex: Learning dexterity from internet videos
Kenneth Shaw, Shikhar Bahl, and Deepak Pathak · 2023
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Deft: Dexterous fine-tuning for real-world hand policies
Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, and Deepak Pathak · 2023
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Zero-shot robot manipulation from passive human videos, 2023
Homanga Bharadhwaj, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2023
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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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Midas v3. 1–a model zoo for robust monocular relative depth estimation
Reiner Birkl, Diana Wofk, and Matthias Müller · 2023
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Learning dexterity from human hand motion in internet videos
Kenneth Shaw, Shikhar Bahl, Aravind Sivakumar, Aditya Kannan, and Deepak Pathak · 2024
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