Dexora is the first open-source VLA system for dual-arm dual-hand high-DoF manipulation, trained on 100K simulated and 10K real teleoperated trajectories with a discriminator-weighted diffusion policy, achieving 66.7% dexterous success versus 51.7% for baselines.
Aloha 2: An enhanced low-cost hardware for bimanual teleoperation
9 Pith papers cite this work. Polarity classification is still indexing.
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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.
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
A retrieve-then-steer method stores successful robot actions in memory and uses them to steer a frozen VLA's flow-matching sampler for better test-time reliability without parameter updates.
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.
π₀ is a vision-language-action flow model trained on diverse multi-platform robot data that supports zero-shot task performance, language instruction following, and efficient fine-tuning for dexterous tasks.
VLBiMan framework enables generalizable bimanual manipulation from single human demonstrations via vision-language anchored task decomposition and adaptation without retraining.
TinyVLA achieves faster inference and higher data efficiency than OpenVLA on robotic manipulation tasks by initializing from high-speed multimodal models and adding a diffusion policy decoder, without any pre-training phase.
citing papers explorer
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Dexora: Open-source VLA for High-DoF Bimanual Dexterity
Dexora is the first open-source VLA system for dual-arm dual-hand high-DoF manipulation, trained on 100K simulated and 10K real teleoperated trajectories with a discriminator-weighted diffusion policy, achieving 66.7% dexterous success versus 51.7% for baselines.
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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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TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
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Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs
A retrieve-then-steer method stores successful robot actions in memory and uses them to steer a frozen VLA's flow-matching sampler for better test-time reliability without parameter updates.
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GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.
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$\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
π₀ is a vision-language-action flow model trained on diverse multi-platform robot data that supports zero-shot task performance, language instruction following, and efficient fine-tuning for dexterous tasks.
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VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation
VLBiMan framework enables generalizable bimanual manipulation from single human demonstrations via vision-language anchored task decomposition and adaptation without retraining.
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TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation
TinyVLA achieves faster inference and higher data efficiency than OpenVLA on robotic manipulation tasks by initializing from high-speed multimodal models and adding a diffusion policy decoder, without any pre-training phase.
- A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm