全身视觉+全肢体操作，让机器人在狭小空间灵活完成复杂任务。
RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
- 用全身分布摄像头实现多视角自感知
- 从人类示范学习技能，抗传感器故障能力强
- 适合在狭窄、杂乱环境中执行多步骤操作
我们提出 RoboPanoptes，一个兼具能力与实用性的机器人系统，通过全身视觉实现全肢体灵巧操作。其全肢体灵巧性使机器人能利用身体表面多个接触点进行操作或穿越受限空间。全身视觉则通过分布在机器人表面的摄像系统，提供对自身及环境状态的全面、多角度视觉反馈。核心采用全身视觉-运动策略，直接从人类示范中学习复杂操作技能，高效融合分布式摄像头信息，同时具备对传感器故障的鲁棒性。这些设计共同解锁新能力，使 RoboPanoptes 能在狭窄空间开箱、清扫多个或大型物体，并在杂乱环境中完成多步收纳任务，相比基线方法在适应性和效率上表现更优。结果请见 https://robopanoptes.github.io。
原文摘要 · Abstract (English)
We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its entire body surface for manipulation, such as leveraging multiple contact points or navigating constrained spaces. Meanwhile, whole-body vision uses a camera system distributed over the robot's surface to provide comprehensive, multi-perspective visual feedback of its own and the environment's state. At its core, RoboPanoptes uses a whole-body visuomotor policy that learns complex manipulation skills directly from human demonstrations, efficiently aggregating information from the distributed cameras while maintaining resilience to sensor failures. Together, these design aspects unlock new capabilities and tasks, allowing RoboPanoptes to unbox in narrow spaces, sweep multiple or oversized objects, and succeed in multi-step stowing in cluttered environments, outperforming baselines in adaptability and efficiency. Results are best viewed on https://robopanoptes.github.io.
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