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Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action spaces.
Exploring bimanual camera control and object manipulation in 3d graphics interfaces
Ravin Balakrishnan and Gordon Kurtenbach · 1999
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Graspit! a versatile simulator for robotic grasping
Andrew T Miller and Peter K Allen · 2004
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Dexterous grasping via eigengrasps: A low-dimensional approach to a high-complexity problem
Matei Ciocarlie, Corey Goldfeder, and Peter Allen · 2007
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Towards a mobile haptic interface for bimanual manipulations
Angelika Peer, Yuta Komoguchi, and Martin Buss · 2007
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Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding
Jeremy Maitin-Shepard, Marco Cusumano-Towner, Jinna Lei, and Pieter Abbeel · 2010
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Bimanual robotic cloth manipulation for laundry folding
Christian Bersch, Benjamin Pitzer, and Sören Kammel · 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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Dual arm estimation for coordinated bimanual manipulation
Paul Hebert, Nicolas Hudson, Jeremy Ma, and Joel W Burdick · 2013
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty
Seyed Sina Mirrazavi Salehian, Nadia Barbara Figueroa Fernandez, and Aude Billard · 2016
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitris Tzionas, and Michael J Black · 2017
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Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes
Adria Colomé and Carme Torras · 2018
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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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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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Learning to generalize across long-horizon tasks from human demonstrations
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, and Li Fei-Fei · 2020
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Understanding human hands in contact at internet scale
Dandan Shan, Jiaqi Geng, Michelle Shu, and David F Fouhey · 2020
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Deep imitation learning for bimanual robotic manipulation
Fan Xie, Alexander Chowdhury, M De Paolis Kaluza, Linfeng Zhao, Lawson Wong, and Rose Yu · 2020
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Untangling dense knots by learning task-relevant keypoints
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, and Ken Goldberg · 2021
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Coarse-to-fine imitation learning: Robot manipulation from a single demonstration
Edward Johns · 2021
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Improved denoising diffusion probabilistic models
Alexander Quinn Nichol and Prafulla Dhariwal · 2021
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2021
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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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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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Long-horizon multi-robot rearrangement planning for construction assembly
Valentin N Hartmann, Andreas Orthey, Danny Driess, Ozgur S Oguz, and Marc Toussaint · 2022
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Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
Stephen James, Kentaro Wada, Tristan Laidlow, and Andrew J Davison · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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A bimanual manipulation taxonomy
Franziska Krebs and Tamim Asfour · 2022
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Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid objects
Junjia Liu, Yiting Chen, Zhipeng Dong, Shixiong Wang, Sylvain Calinon, Miao Li, and Fei Chen · 2022
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2022
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Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 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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Bag all you need: Learning a generalizable bagging strategy for heterogeneous objects
Arpit Bahety, Shreeya Jain, Huy Ha, Nathalie Hager, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, and Shuran Song · 2023
Cited alongside, same era.
Cloth funnels: Canonicalized-alignment for multi-purpose garment manipulation
Alper Canberk, Cheng Chi, Huy Ha, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, and Shuran Song · 2023
Cited alongside, same era.
3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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Robot see robot do: Imitating articulated object manipulation with monocular 4d reconstruction
Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, and Angjoo Kanazawa · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Learning to act from actionless videos through dense correspondences
Po-Chen Ko, Jiayuan Mao, Yilun Du, Shao-Hua Sun, and Joshua B Tenenbaum · 2024
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Hierarchical diffusion policy for kinematics-aware multi-task robotic manipulation
Xiao Ma, Sumit Patidar, Iain Haughton, and Stephen James · 2024
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Bagging by learning to singulate layers using interactive perception
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, and Ken Goldberg · 2023
Cited alongside, same era.
Autobag: Learning to open plastic bags and insert objects
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, and Ken Goldberg · 2023
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
Cited alongside, same era.
Arctic: A dataset for dexterous bimanual hand-object manipulation
Zicong Fan, Omid Taheri, Dimitrios Tzionas, Muhammed Kocabas, Manuel Kaufmann, Michael J Black, and Otmar Hilliges · 2023
Cited alongside, same era.
Dynamic handover: Throw and catch with bimanual hands
Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, and Xiaolong Wang · 2023
Cited alongside, same era.
Efficient bimanual handover and rearrangement via symmetry-aware actor-critic learning
Yunfei Li, Chaoyi Pan, Huazhe Xu, Xiaolong Wang, and Yi Wu · 2023
Cited alongside, same era.
Learning robot manipulation from cross-morphology demonstration
Gautam Salhotra, I-Chun Arthur Liu, and Gaurav S Sukhatme · 2023
Cited alongside, same era.
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Robotwin: Dual-arm robot benchmark with generative digital twins (early version)
Yao Mu, Tianxing Chen, Shijia Peng, Zanxin Chen, Zeyu Gao, Yude Zou, Lunkai Lin, Zhiqiang Xie, and Ping Luo · 2024
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Rt-affordance: Affordances are versatile intermediate representations for robot manipulation
Soroush Nasiriany, Sean Kirmani, Tianli Ding, Laura Smith, Yuke Zhu, Danny Driess, Dorsa Sadigh, and Ted Xiao · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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R+x: Retrieval and execution from everyday human videos
Georgios Papagiannis, Norman Di Palo, Pietro Vitiello, and Edward Johns · 2024
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Reconstructing hands in 3d with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Tiebot: Learning to knot a tie from visual demonstration through a real-to-sim-to-real approach
Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, and Lin Shao · 2024
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Wilor: End-to-end 3d hand localization and reconstruction in-the-wild
Rolandos Alexandros Potamias, Jinglei Zhang, Jiankang Deng, and Stefanos Zafeiriou · 2024
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Sam 2: Segment anything in images and videos
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, et al · 2024
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Diffusion-edfs: Bi-equivariant denoising generative modeling on se (3) for visual robotic manipulation
Hyunwoo Ryu, Jiwoo Kim, Hyunseok An, Junwoo Chang, Joohwan Seo, Taehan Kim, Yubin Kim, Chaewon Hwang, Jongeun Choi, and Roberto Horowitz · 2024
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Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, and C Karen Liu · 2024
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Florence-2: Advancing a unified representation for a variety of vision tasks
Bin Xiao, Haiping Wu, Weijian Xu, Xiyang Dai, Houdong Hu, Yumao Lu, Michael Zeng, Ce Liu, and Lu Yuan · 2024
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Igev++: Iterative multi-range geometry encoding volumes for stereo matching
Gangwei Xu, Xianqi Wang, Zhaoxing Zhang, Junda Cheng, Chunyuan Liao, and Xin Yang · 2024
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Impact-aware bimanual catching of large-momentum objects
Lei Yan, Theodoros Stouraitis, João Moura, Wenfu Xu, Michael Gienger, and Sethu Vijayakumar · 2024
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Equivact: Sim (3)-equivariant visuomotor policies beyond rigid object manipulation
Jingyun Yang, Congyue Deng, Jimmy Wu, Rika Antonova, Leonidas Guibas, and Jeannette Bohg · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Learning manipulation by predicting interaction
Jia Zeng, Qingwen Bu, Bangjun Wang, Wenke Xia, Li Chen, Hao Dong, Haoming Song, Dong Wang, Di Hu, Ping Luo, et al · 2024
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Oakink2: A dataset of bimanual hands-object manipulation in complex task completion
Xinyu Zhan, Lixin Yang, Yifei Zhao, Kangrui Mao, Hanlin Xu, Zenan Lin, Kailin Li, and Cewu Lu · 2024
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Affordance-based robot manipulation with flow matching
Fan Zhang and Michael Gienger · 2024
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Empowering embodied manipulation: A bimanual-mobile robot manipulation dataset for household tasks
Tianle Zhang, Dongjiang Li, Yihang Li, Zecui Zeng, Lin Zhao, Lei Sun, Yue Chen, Xuelong Wei, Yibing Zhan, Lusong Li, et al · 2024
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One-shot imitation learning with invariance matching for robotic manipulation
Xinyu Zhang and Abdeslam Boularias · 2024
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Aloha unleashed: A simple recipe for robot dexterity
Tony Z Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 2024
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Learning diverse bimanual dexterous manipulation skills from human demonstrations
Bohan Zhou, Haoqi Yuan, Yuhui Fu, and Zongqing Lu · 2024
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Do you need a hand?–a bimanual robotic dressing assistance scheme
Jihong Zhu, Michael Gienger, Giovanni Franzese, and Jens Kober · 2024
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