BiCoord is a new benchmark for long-horizon tightly coordinated bimanual manipulation that includes quantitative metrics and shows existing policies like DP, RDT, Pi0 and OpenVLA-OFT struggle on such tasks.
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Uni-HOI learns the joint distribution of text, human motion, and object motion using LLMs and VQ-VAEs in a two-stage training process for multiple HOI tasks.
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BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination
BiCoord is a new benchmark for long-horizon tightly coordinated bimanual manipulation that includes quantitative metrics and shows existing policies like DP, RDT, Pi0 and OpenVLA-OFT struggle on such tasks.
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Uni-HOI:A Unified framework for Learning the Joint distribution of Text and Human-Object Interaction
Uni-HOI learns the joint distribution of text, human motion, and object motion using LLMs and VQ-VAEs in a two-stage training process for multiple HOI tasks.