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Bimanual manipulation is essential in robotics, yet developing foundation models is extremely challenging due to the inherent complexity of coordinating two robot arms (leading to multi-modal action distributions) and the scarcity of training data.
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R Zollner, Tamim Asfour, and Rüdiger Dillmann · 2004
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Weiwei Li · 2006
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Two arms are better than one: A behavior based control system for assistive bimanual manipulation
Aaron Edsinger and Charles C Kemp · 2007
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Sinno Jialin Pan and Qiang Yang · 2009
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Carlos Canudas de Wit, Bruno Siciliano, and Georges Bastin · 2012
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Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V Dimarogonas, and Danica Kragic · 2012
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Basil Kouvaritakis and Mark Cannon · 2016
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Rudolf Lioutikov, Oliver Kroemer, Guilherme Maeda, and Jan Peters · 2016
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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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Nadia Figueroa and Aude Billard · 2017
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Efficient bimanual manipulation using learned task schemas
Rohan Chitnis, Shubham Tulsiani, Saurabh Gupta, and Abhinav Gupta · 2020
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Reinforcement learning of bimanual robot skills
Adrià Colomé and Carme Torras · 2020
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Fourier features let networks learn high frequency functions in low dimensional domains
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Fan Xie, Alexander Chowdhury, M De Paolis Kaluza, Linfeng Zhao, Lawson Wong, and Rose Yu · 2020
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Segment anything
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The kit bimanual manipulation dataset
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Weblab xarm dataset, 2023
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X-embodiment u-tokyo pr2 datasets, 2023
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A guided reinforcement learning approach using shared control templates for learning manipulation skills in the real world
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Imitating human behaviour with diffusion models
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ucsd kitchens Dataset
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Sigmoid loss for language image pre-training, 2023
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