Voxact-b: Voxel-based acting and stabilizing policy for bimanual manipulation
Bimanual manipulation is critical to many robotics applications. In contrast to single-arm
manipulation, bimanual manipulation tasks are challenging due to higher-dimensional …
manipulation, bimanual manipulation tasks are challenging due to higher-dimensional …
Learning diverse bimanual dexterous manipulation skills from human demonstrations
Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-
dimensional action space and inherent task complexity present significant challenges for …
dimensional action space and inherent task complexity present significant challenges for …
Object-centric dexterous manipulation from human motion data
Manipulating objects to achieve desired goal states is a basic but important skill for
dexterous manipulation. Human hand motions demonstrate proficient manipulation …
dexterous manipulation. Human hand motions demonstrate proficient manipulation …
Learning Visuotactile Skills with Two Multifingered Hands
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we
explore learning from human demonstrations using a bimanual system with multifingered …
explore learning from human demonstrations using a bimanual system with multifingered …
AsymDex: Leveraging Asymmetry and Relative Motion in Learning Bimanual Dexterity
We present Asymmetric Dexterity (AsymDex), a novel reinforcement learning (RL)
framework that can efficiently learn asymmetric bimanual skills for multi-fingered hands …
framework that can efficiently learn asymmetric bimanual skills for multi-fingered hands …