2 papers
cs.RO2024
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Nikita Chernyadev, Nicholas Backshall, Xiao Ma +3
We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, rangin…
cs.RO2024
Redundancy-aware Action Spaces for Robot Learning
Pietro Mazzaglia, Nicholas Backshall, Xiao Ma +1
Joint space and task space control are the two dominant action modes for controlling robot arms within the robot learning literature. Actions in joint space provide precise control…