Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization

Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu +5

Bimanual object reorientation - picking an object, handing it over between two arms, and placing it in a desired target pose - is valuable when direct placement from the initial gr…