1 citations · 1 across the 4 of their papers we have counts for
5 papers
BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation
Zexi Zhang, Zecheng Zhu, Zidong Chen +2
Humanoid household manipulation requires the arms to act while the body balances, steps and changes posture. We present BiGym 2.0, an adaptation of BiGym for the Unitree G1 across…
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…
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation
Eugene Teoh, Sumit Patidar, Xiao Ma +1
Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location…
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…
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation
Xiao Ma, Sumit Patidar, Iain Haughton +1
This paper introduces Hierarchical Diffusion Policy (HDP), a hierarchical agent for multi-task robotic manipulation. HDP factorises a manipulation policy into a hierarchical struct…