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Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms.
Experiments in dual-arm manipulation planning
Y. Koga and J.-C. Latombe · 1992
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Imitation learning of dual-arm manipulation tasks in humanoid robots
T. Asfour, P. Azad, F. Gyarfas, and R. Dillmann · 2008
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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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Playing atari with deep reinforcement learning
V. Mnih · 2013
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Towards learning hierarchical skills for multi-phase manipulation tasks
O. Kroemer, C. Daniel, G. Neumann, H. Van Hoof, and J. Peters · 2015
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Learning force-based manipulation of deformable objects from multiple demonstrations
A. X. Lee, H. Lu, A. Gupta, S. Levine, and P. Abbeel · 2015
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Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems
J. Silvério, L. Rozo, S. Calinon, and D. G. Caldwell · 2015
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Learning bimanual coordinated tasks from human demonstrations
A.-L. Pais Ureche and A. Billard · 2015
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End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
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Hierarchical attention networks for document classification
Z. Yang, D. Yang, C. Dyer, X. He, A. Smola, and E. Hovy · 2016
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Extracting bimanual synergies with reinforcement learning
K. S. Luck and H. B. Amor · 2017
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One-shot visual imitation learning via meta-learning
C. Finn, T. Yu, T. Zhang, P. Abbeel, and S. Levine · 2017
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Attention is all you need
A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, Ł. Kaiser, and I. Polosukhin · 2017
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A unified framework for coordinated multi-arm motion planning
S. S. Mirrazavi Salehian, N. Figueroa, and A. Billard · 2018
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Deep reinforcement learning for vision-based robotic grasping: A simulated comparative evaluation of off-policy methods
D. Quillen, E. Jang, O. Nachum, C. Finn, J. Ibarz, and S. Levine · 2018
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Multimodal affective analysis using hierarchical attention strategy with word-level alignment
Y. Gu, K. Yang, S. Fu, S. Chen, X. Li, and I. Marsic · 2018
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Hierarchical attention-based multimodal fusion for video captioning
C. Wu, Y. Wei, X. Chu, S. Weichen, F. Su, and L. Wang · 2018
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Bert: Pre-training of deep bidirectional transformers for language understanding
J. Devlin, M.-W. Chang, K. Lee, and K. Toutanova · 2018
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel · 2018
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Neural legal judgment prediction in english
I. Chalkidis, I. Androutsopoulos, and N. Aletras · 2019
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Mtformer: Multi-task learning via transformer and cross-task reasoning
X. Xu, H. Zhao, V. Vineet, S.-N. Lim, and A. Torralba · 2022
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Behavior transformers: Cloning k k modes with one stone
N. M. Shafiullah, Z. Cui, A. A. Altanzaya, and L. Pinto · 2022
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Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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Waypoint-based imitation learning for robotic manipulation
L. X. Shi, A. Sharma, T. Z. Zhao, and C. Finn · 2023
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Stabilize to act: Learning to coordinate for bimanual manipulation
J. Grannen, Y. Wu, B. Vu, and D. Sadigh · 2023
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Cross-task attention mechanism for dense multi-task learning
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Efficient bimanual manipulation using learned task schemas
R. Chitnis, S. Tulsiani, S. Gupta, and A. Gupta · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
A. Dosovitskiy · 2020
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C. Wu, F. Wu, T. Qi, and Y. Huang · 2021
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The surprising effectiveness of representation learning for visual imitation
J. Pari, N. M. Shafiullah, S. P. Arunachalam, and L. Pinto · 2021
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An exploration of hierarchical attention transformers for efficient long document classification
I. Chalkidis, X. Dai, M. Fergadiotis, P. Malakasiotis, and D. Elliott · 2022
Cited alongside, same era.
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
Cited alongside, same era.
Bi-manual manipulation and attachment via sim-to-real reinforcement learning
S. Kataoka, S. K. S. Ghasemipour, D. Freeman, and I. Mordatch · 2022
Cited alongside, same era.
I. Lopes, T.-H. Vu, and R. de Charette · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
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Screwmimic: Bimanual imitation from human videos with screw space projection
A. Bahety, P. Mandikal, B. Abbatematteo, and R. Martín-Martín · 2024
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Yell at your robot: Improving on-the-fly from language corrections
L. X. Shi, Z. Hu, T. Z. Zhao, A. Sharma, K. Pertsch, J. Luo, S. Levine, and C. Finn · 2024
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Integrating visuo-tactile sensing with haptic feedback for teleoperated robot manipulation
N. Becker, E. Gattung, K. Hansel, T. Schneider, Y. Zhu, Y. Hasegawa, and J. Peters · 2024
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Embodied ai with two arms: Zero-shot learning, safety and modularity
J. Varley, S. Singh, D. Jain, K. Choromanski, A. Zeng, S. B. R. Chowdhury, A. Dubey, and V. Sindhwani · 2024
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Multi-stage cable routing through hierarchical imitation learning
J. Luo, C. Xu, X. Geng, G. Feng, K. Fang, L. Tan, S. Schaal, and S. Levine · 2024
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Aloha 2: An enhanced low-cost hardware for bimanual teleoperation
J. Aldaco, T. Armstrong, R. Baruch, J. Bingham, S. Chan, K. Draper, D. Dwibedi, C. Finn, P. Florence, S. Goodrich, et al · 2024
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