This repository is mainly about robot bimanual manipulation / dual-arm manipulation. This is an ongoing project now, so keep an eye on it.
Related works are listed as follows:
Note that some works are just pre-printed articles.
Content
- Reinforcement Learning of Bimanual Robot Skills Springer 2020
- Dual arm manipulation—A survey 2012 | Note
- Two Arms are Better than One: A Behavior Based Control System for Assistive Bimanual Manipulation 2007
2021 ICRA Workshop on Bimanual Manipulation: Learning, Planning and Control
2022 ICRA Workshop on Bi-manual Manipulation: Addressing Real-world Challenges
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robosuite: A Modular Simulation Framework and Benchmark for Robot Learning arxiv 2020
Yuke Zhu Josiah Wong Ajay Mandlekar Roberto Martın-Martın
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The KIT Bimanual Manipulation Dataset Humanoids 2020
Franziska Krebs , Andre Meixner , Isabel Patzer and Tamim Asfour
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DQ robotics: A library for robot modeling and control RA-M 2020
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Surreal: Open-source reinforcement learning framework and robot manipulation benchmark CoRL 2018
Linxi Fan, Yuke Zhu, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei
Deep Learning
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Learning where to trust unreliable models in an unstructured world for deformable object manipulation Science Robotics 2021
P. Mitrano, D. Mc Conachie, D. Berenson
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FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy CoRL 2021 | web
Thomas Weng, Sujay Bajracharya, Yufei Wang, Khush Agrawal, and David Held
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In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning 2021
Kanata Suzuki, Momomi Kanamura, Yuki Suga, Hiroki Mori and Tetsuya Ogata
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Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing ICRA 2018
Max Schwarz, Christian Lenz, German Martın Garcıa, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke
Imitation Learning / Learning from Demonstration (LfD)
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Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects RA-L 2022
Junjia Liu, Yiting Chen, Zhipeng Dong, Shixiong Wang, Sylvain Calinon, Miao Li, and Fei Chen
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Passive Bimanual Skills Learning From Demonstration With Motion Graph Attention Networks RA-L 2022
Zhipeng Dong , Zhihao Li , Yunhui Yan , Sylvain Calinon , and Fei Chen
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Robot peels banana with goal-conditioned dual-action deep imitation learning arxiv 2022
Heecheol Kim, Yoshiyuki Ohmura , Yasuo Kuniyoshi
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Transformer-based deep imitation learning for dual-arm robot manipulation IROS 2021
Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
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Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks RA-L 2020
Christian R. G. Dreher, Mirko Wächter, and Tamim Asfour
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Deep Imitation Learning for Bimanual Robotic Manipulation NeurIPS 2020
Fan Xie, Alexander Chowdhury, M. Clara De Paolis Kaluza, Linfeng Zhao, Lawson L.S. Wong, Rose Yu
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Guided Robot Skill Learning: A User-Study on Learning Probabilistic Movement Primitives with Non-Experts Humanoids 2020 (Dual panda)
Moritz Knaust, Dorothea Koert
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Learning and Composing Primitive Skills for Dual-arm Manipulation arxiv 2019
Èric Pairet, Paola Ardón, Michael Mistry, and Yvan Petillot
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Learning Task Priorities From Demonstrations T-RO 2019
Joao Silverio, Sylvain Calinon, Leonel Rozo, and Darwin G. Caldwell
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Adria Colome, and Carme Torras
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Bimanual Skill Learning with Pose and Joint Space Constraints Humanoids 2018
Joao Silverio , Sylvain Calinon, Leonel Rozo and Darwin G. Caldwell
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Projected Force-Admittance Control for Compliant Bimanual Tasks Humanoids 2018
Jianfeng Gao, You Zhou and Tamim Asfour
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Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior RAS 2018
Lucia Pais Ureche, Aude Billard
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Generalization of Task Model using Compliant Movement Primitives in a Bimanual Setting ROBIO 2017
Aleksandar Batinica, Bojan Nemec, José Santos-Victor, Andrej Gams and Mirko Rakovic
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Compliant Movement Primitives in a Bimanual Setting Humanoids 2017
Aleksandar Batinica, Bojan Nemec, Aleš Ude, Mirko Rakovic´and Andrej Gams
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[Coordinate Change Dynamic Movement Primitives – A Leader-Follower Approach](IEEE Xplore Full-Text PDF:) IROS 2016
You Zhou, Martin Do, and Tamim Asfour
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Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems IROS 2015
Joao Silverio, Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell
Reinforcement Learning
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Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning arxiv 2022
Satoshi Kataoka, Seyed Kamyar Seyed Ghasemipour, Daniel Freeman, and Igor Mordatch
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DAIR: Disentangled Attention Intrinsic Regularization for Safe and Efficient Bimanual Manipulation arxiv 2021
Minghao Zhang, Pingcheng Jian, Yi Wu, Huazhe Xu, Xiaolong Wang
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Efficient bimanual manipulation using learned task schemas ICRA 2020 | video
Rohan Chitnis, Shubham Tulsiani, Saurabh Gupta, and Abhinav Gupta
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Reinforcement Learning of Bimanual Robot Skills Springer 2020
Adrià Colomé, Carme Torras
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Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning arxiv 2020
Zih-Yun Chiu, Florian Richter, Emily K. Funk, Ryan K. Orosco, and Michael C. Yip
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Exploiting symmetries in reinforcement learning of bimanual robotic tasks RA-L 2019
Fabio Amadio, Adria Colome, and Carme Torras
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Door Opening by joining Reinforcement Learning and Intelligent Control ICAR 2017
Bojan Nemec, Leon Zlajpah, and Ales Ude
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Extracting bimanual synergies with reinforcement learning IROS 2017
Kevin Sebastian Luck,and Heni Ben Amor
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Trajectory-model-based reinforcement learning: Application to bimanual humanoid motor learning with a closed-chain constraint Humanoids 2013
Norikazu Sugimoto, and Jun Morimoto
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Reinforcement Learning of Clothing Assistance with a Dual-arm Robot RAS 2011
Tomoya Tamei, Takamitsu Matsubara, Akshara Rai, Tomohiro Shibata
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Using dimensionality reduction to exploit constraints in reinforcement learning IROS 2010
Sebastian Bitzer, Matthew Howard, Sethu Vijayakumar
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Shengzeng Huo, Anqing Duan, Chengxi Li, Peng Zhou, Wanyu Ma, Hesheng Wang, and David Navarro-Alarcon
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Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation RA-L 2022
Zhenxi Cui, Wanyu Ma, Jiewen Lai, Henry K. Chu, and Yi Guo
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Mixtures of Gaussian Processes for Robot Motion Planning Using Stochastic Trajectory Optimization T-SMC 2022
Luka Petrovic, Ivan Markovic, and Ivan Petrovic
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Composite-Learning-Based Adaptive Neural Control for Dual-Arm Robots With Relative Motion TNNLS 2022
Yiming Jiang, Yaonan Wang, Zhiqiang Miao, Jing Na, Zhijia Zhao, and Chenguang Yang
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Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools T-Mech 2021
Daniel Sanchez, Weiwei Wan, and Kensuke Harada
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Bidirectional Human–Robot Bimanual Handover of Big Planar Object With Vertical Posture T-ASE 2021
Wei He, Jiashu Li, Zichen Yan and Fei Chen
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Initial Results on Grasping and Lifting Physical Deformable Bags with a Bimanual Robot IROS 2021
Daniel Seita, Justin Kerr, John Canny, Ken Goldberg
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Wanyu Ma, Bin Zhang, Lijun Han, Shengzeng Huo, Hesheng Wang and David Navarro-Alarcon
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Wrapp-up: A dual-arm robot for intralogistics RA-M 2020
Manolo Garabini, Danilo Caporale, Vinicio Tincani, Alessandro Palleschi, Chiara Gabellieri, Marco Gugliotta, Alessandro Settimi, Manuel G. Catalano, Giorgio Grioli, and Lucia Pallottino
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Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors Humanoids 2020
Sotiris Stavridis, Pietro Falco and Zoe Doulgeri
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Discrete Bimanual Manipulation for Wrench Balancing ICRA 2020
Silvia Cruciani, Diogo Almeida, Danica Kragic, and Yiannis Karayiannidis
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Dual-arm robotic needle insertion with active tissue deformation for autonomous suturing RA-L 2019
Fangxun Zhong, Yaqing Wang, Zerui Wang, and Yun-Hui Liu
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Admittance control for collaborative dual-arm manipulation ICAR 2019
Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, Andre Crosnier , Andrea Cherubini and Damien Salle
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Chenguang Yang, Yiming Jiang, Jing Na, Zhijun Li, Long Cheng, and Chun-Yi Su
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Autonomous Dual-Arm Manipulation of Familiar Objects Humanoids 2018
Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy and Sven Behnke
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A Certified-Complete Bimanual Manipulation Planner T-ASE 2018
Puttichai Lertkultanon and Quang-Cuong Pham
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Anthropomorphic, Compliant and Lightweight Dual Arm System for Aerial Manipulation IROS 2017
Alejandro Suarez, Pablo Ramon Soria, Guillermo Heredia, Begoña C. Arrue, Anibal Ollero
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Neural control of bimanual robots with guaranteed global stability and motion precision TII 2016
Chenguang Yang, Yiming Jiang, Zhijun Li, Wei He and Chun-Yi Su
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Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism IEEE TRANSACTIONS ON CYBERNETICS 2015
Zhi Liu, Ci Chen, Yun Zhang, and C. L. P. Chen
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Bimanual grasp planning Humanoids 2011
Nikolaus Vahrenkamp, Markus Przybylski, Tamim Asfour and Rudiger Dillmann
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Cooperative Manipulation of Deformable Objects by Single-Leader-Dual-Follower Teleoperation T-IE 2022
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Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance ECMR 2021
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Single Master Bimanual Teleoperation System With Efficient Regulation T-RO 2020
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Shared-Control-Based Bimanual Robot Manipulation Science Robotics 2019 | video
Daniel Rakita, Bilge Mutlu, Michael Gleicher, Laura M. Hiatt
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Adaptive Robust Control for Bimanual Cooperative Contact Teleoperation with Relative Jacobian Matrix Journal of Intelligent & Robotic Systems 2019
Zhenyu Lu, Panfeng Huang, Ruizhou Cheng, Zhengxiong Liu, Zhongjie Meng
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Human-Robot Interaction Through Fingertip Haptic Devices for Cooperative Manipulation Tasks RO-MAN 2019
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Physical Fatigue Analysis of Assistive Robot Teleoperation via Whole-body Motion Mapping IROS 2019
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Shared-Autonomy Control for Intuitive Bimanual Tele-manipulation Humanoids 2018 (Dual panda)
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Bimanual Handling of Deformable Objects With Hybrid Adhesion RA-L 2022
Amy Kyungwon Han, Amar Hajj-Ahmad, and Mark R. Cutkosky
TODO: Reclassification
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Benchmarking Bimanual Cloth Manipulation RA-L 2020
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Dynamic cloth manipulation with deep reinforcement learning ICRA 2020
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Bimanual robotic cloth manipulation for laundry folding IROS 2011
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A survey of dual-arm robotic issues on assembly tasks Robot Design, Dynamics and Control, 2019
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Dual arm robot in cooperation with humans for flexible assembly 2017
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Bimanual Folding Assembly: Switched Control and Contact Point Estimation Humanoids 2016
Diogo Almeida, Francisco E. Vina, Yiannis Karayiannidis
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Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System URAI 2014
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Intuitive dual arm robot programming for assembly operations 2014
- A Framework for Robotic Bin Packing with a Dual-Arm Configuration Advances in Mechanism and Machine Science 2018
- A Dual Arm Haptic Exoskeleton for Dynamical Coupled Manipulation AIM 2021
- Human-inspired control of dual-arm exoskeleton robots with force and impedance adaptation T-SMC 2020
- Coordination Control of a Dual-Arm Exoskeleton Robot Using Human Impedance Transfer Skills T-SMC 2019
- Asymmetric bimanual control of dual-arm exoskeletons for human-cooperative manipulations T-RO 2018
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PR2
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ABB YuMi
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Rethink Baxter and Sawyer (Of course it's not dual-arm)
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iGibson is a very realistic 3D home scene simulator, which consists of 15 fully interactive scenes and 500+ object models. But it might not be fully suitable for the bimanual manipulation.
