相关论文: VoxAct-B: Voxel-Based Acting and Stabilizing Polic…

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, their control remains challenging due to indirect actuation,…

Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

Key to rich, dexterous manipulation in the real world is the ability to coordinate control across two hands. However, while the promise afforded by bimanual robotic systems is immense, constructing control policies for dual arm autonomous…

Humans naturally employ linguistic instructions to convey knowledge, a process that proves significantly more complex for machines, especially within the context of multitask robotic manipulation environments. Natural language, moreover,…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sensing or reliable pose tracking to handle complex interaction…

Bimanual manipulation, fundamental to human daily activities, remains a challenging task due to its inherent complexity of coordinated control. Recent advances have enabled zero-shot learning of single-arm manipulation skills through…

We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data…

We investigate the integration of attention maps from a pre-trained Vision Transformer into voxel representations to enhance bimanual robotic manipulation. Specifically, we extract attention maps from DINOv2, a self-supervised ViT model,…

Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well…

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but…

Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…

Visual Language Models (VLMs) have emerged as pivotal tools for robotic systems, enabling cross-task generalization, dynamic environmental interaction, and long-horizon planning through multimodal perception and semantic reasoning. However,…

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation…