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MonoDuo: Using One Robot Arm to Learn Bimanual Policies
Sandeep Bajamahal, Lawrence Yunliang Chen, Toru Lin +3
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-a…
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
Jiahe Pan, Stelian Coros, Jitendra Malik +1
A primary bottleneck in contact-rich manipulation is the difficulty of collecting real-world data. Sim-to-real reinforcement learning offers a scalable alternative, but the simulat…
How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
Toru Lin, Shuying Deng, Zhao-Heng Yin +2
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by conta…