统一双臂灵巧操作框架，支持虚拟现实与主从控制
UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation
- 整合多种输入设备到统一控制栈，实现双臂协调操作
- 在厨房整理任务中成功率达92%，轨迹更平滑鲁棒性更强
- 开源软硬件，助力高质量人类示范数据集建设
我们提出UniBiDex，一个支持基于VR和主从模式的统一机器人双臂灵巧操作框架。该框架通过将异构输入设备集成至共享控制栈，实现实时、富含触觉反馈的双臂操作，并确保运动学一致性与安全约束。采用空域控制优化双臂配置，在各类任务中实现平滑、无碰撞且规避奇异性的运动。我们在包含五个子任务的长期厨房整理任务中验证了该框架，相比强基线方法，任务成功率更高，轨迹更平滑，鲁棒性更强。所有软硬件组件均已开源，旨在降低大规模高质量人类示范数据收集门槛，推动机器人学习发展。
原文摘要 · Abstract (English)
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating heterogeneous input devices into a shared control stack with consistent kinematic treatment and safety guarantees The framework employs nullspace control to optimize bimanual configurations ensuring smooth collisionfree and singularityaware motion across tasks We validate UniBiDex on a longhorizon kitchentidying task involving five sequential manipulation subtasks demonstrating higher task success rates smoother trajectories and improved robustness compared to strong baselines By releasing all hardware and software components as opensource we aim to lower the barrier to collecting largescale highquality human demonstration datasets and accelerate progress in robot learning.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。