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This research introduces the Bi-VLA (Vision-Language-Action) model, a novel system designed for bimanual robotic dexterous manipulation that seamlessly integrates vision for scene understanding, language comprehension for translating human instructions into executable code, and physical action generation.
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P. Lewis, E. Perez, A. Piktus, F. Petroni, V. Karpukhin, N. Goyal, H. Küttler, M. Lewis, W. tau Yih, T. Rocktäschel, S. Riedel, and D. Kiela, “Retrieval-augmented generation for knowledge-intensive nlp tasks,” in Proc. Int. Conf. on Neural Information Processing Systems (NIPS) , 2021, p. 16
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2022
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Y. Chen, T. Wu, S. Wang, X. Feng, J. Jiang, Z. Lu, S. McAleer, H. Dong, S.-C. Zhu, and Y. Yang, “Towards human-level bimanual dexterous manipulation with reinforcement learning,” Advances in Neural Information Processing Systems , vol. 35, pp. 5150–5163, 2022
2022
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M. Shridhar, L. Manuelli, and D. Fox, “Cliport: What and where pathways for robotic manipulation,” in Proc. of the 5th Conf. on Robot Learning (CoRL) . PMLR, 2022, pp. 894–906
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2022
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G. Franzese, L. de Souza Rosa, T. Verburg, L. Peternel, and J. Kober, “Interactive imitation learning of bimanual movement primitives,” IEEE/ASME Transactions on Mechatronics , 2023
2023
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2023
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2023
Later among the works it cites.
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2023
Cited alongside, same era.
I. Singh, V. Blukis, A. Mousavian, A. Goyal, D. Xu, J. Tremblay, D. Fox, J. Thomason, and A. Garg, “Progprompt: Generating situated robot task plans using large language models,” in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) . IEEE, 2023, pp. 11 523–11 530
2023
Cited alongside, same era.
J. Liang, W. Huang, F. Xia, P. Xu, K. Hausman, B. Ichter, P. Florence, and A. Zeng, “Code as policies: Language model programs for embodied control,” in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) . IEEE, 2023, pp. 9493–9500
2023
Cited alongside, same era.
2023
Cited alongside, same era.
2023
Cited alongside, same era.
2023
Later among the works it cites.
Y. Lin, A. Church, M. Yang, H. Li, J. Lloyd, D. Zhang, and N. F. Lepora, “Bi-touch: Bimanual tactile manipulation with sim-to-real deep reinforcement learning,” IEEE Robotics and Automation Letters , vol. 8, no. 9, pp. 5472–5479, 2023
2023
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B. Zhu, E. Frick, T. Wu, H. Zhu, and J. Jiao, “Starling-7b: Improving llm helpfulness & harmlessness with rlaif,” November 2023
2023
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2023
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C. Y. Kim, C. P. Lee, and B. Mutlu, “Understanding large-language model (llm)-powered human-robot interaction,” in Proc. ACM/IEEE Int. Conf. on Human-Robot Interaction (HRI) , 2024, pp. 371–380
2024
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