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awesome-bimanual-manipulation

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.

Comprehensive version README (with Authors & Figures)

Content

Survey

  1. Reinforcement Learning of Bimanual Robot Skills Springer 2020
  2. Dual arm manipulation—A survey 2012 | Note
  3. Two Arms are Better than One: A Behavior Based Control System for Assistive Bimanual Manipulation 2007

Workshop

2021 ICRA Workshop on Bimanual Manipulation: Learning, Planning and Control

  1. Bimanual Manipulation-Complex, Human-like and Efficient Manipulation

2022 ICRA Workshop on Bi-manual Manipulation: Addressing Real-world Challenges

Repositories

  1. Rofunc: The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

    Release License Documentation Status Build Status

    Repository address: https://github.com/Skylark0924/Rofunc
    Documentation: https://rofunc.readthedocs.io/

Benchmark

  1. robosuite: A Modular Simulation Framework and Benchmark for Robot Learning arxiv 2020
  2. The KIT Bimanual Manipulation Dataset Humanoids 2020
  3. DQ robotics: A library for robot modeling and control RA-M 2020
  4. Surreal: Open-source reinforcement learning framework and robot manipulation benchmark CoRL 2018

Methodology

Learning

Deep Learning

  1. Learning where to trust unreliable models in an unstructured world for deformable object manipulation Science Robotics 2021
  2. FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy CoRL 2021 | web
  3. In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning iros 2021
  4. Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing ICRA 2018

Imitation Learning / Learning from Demonstration (LfD)

  1. Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects RA-L 2022

  2. Passive Bimanual Skills Learning From Demonstration With Motion Graph Attention Networks RA-L 2022

  3. Robot peels banana with goal-conditioned dual-action deep imitation learning arxiv 2022

  4. Transformer-based deep imitation learning for dual-arm robot manipulation IROS 2021

  5. Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks RA-L 2020

  6. Deep Imitation Learning for Bimanual Robotic Manipulation NeurIPS 2020

  7. Guided Robot Skill Learning: A User-Study on Learning Probabilistic Movement Primitives with Non-Experts Humanoids 2020 (Dual panda)

  8. Learning and Composing Primitive Skills for Dual-arm Manipulation arxiv 2019

  9. Learning Task Priorities From Demonstrations T-RO 2019

  10. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes T-RO 2018

  11. Bimanual Skill Learning with Pose and Joint Space Constraints Humanoids 2018

  12. Projected Force-Admittance Control for Compliant Bimanual Tasks Humanoids 2018

  13. Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior RAS 2018

  14. Generalization of Task Model using Compliant Movement Primitives in a Bimanual Setting ROBIO 2017

  15. Compliant Movement Primitives in a Bimanual Setting Humanoids 2017

  16. [Coordinate Change Dynamic Movement Primitives – A Leader-Follower Approach](IEEE Xplore Full-Text PDF:) IROS 2016

  17. Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems IROS 2015

Reinforcement Learning

  1. Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning arxiv 2022
  2. DAIR: Disentangled Attention Intrinsic Regularization for Safe and Efficient Bimanual Manipulation arxiv 2021
  3. Reinforcement Learning of Bimanual Robot Skills Springer 2020
  4. Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning arxiv 2020
  5. Exploiting symmetries in reinforcement learning of bimanual robotic tasks RA-L 2019
  6. Door Opening by joining Reinforcement Learning and Intelligent Control ICRA 2017
  7. Extracting bimanual synergies with reinforcement learning IROS 2017
  8. Trajectory-model-based reinforcement learning: Application to bimanual humanoid motor learning with a closed-chain constraint Humanoids 2013
  9. Efficient bimanual manipulation using learned task schemas ICRA 2020 | video
  10. Reinforcement Learning of Clothing Assistance with a Dual-arm Robot RAS 2011
  11. Using dimensionality reduction to exploit constraints in reinforcement learning IROS 2010

Modelling

  1. Redundancy Resolution for Dual-Arm Robots Inspired by Human Asymmetric Bimanual Action: Formulation and Experiments ICRA 2015

Planning and Control

  1. Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework RA-L 2022
  2. Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation RA-L 2022
  3. Mixtures of Gaussian Processes for Robot Motion Planning Using Stochastic Trajectory Optimization T-SMC 2022
  4. Composite-Learning-Based Adaptive Neural Control for Dual-Arm Robots With Relative Motion TNNLS 2022
  5. Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools T-Mech 2021
  6. Bidirectional Human–Robot Bimanual Handover of Big Planar Object With Vertical Posture T-ASE 2021
  7. Initial Results on Grasping and Lifting Physical Deformable Bags with a Bimanual Robot IROS 2021
  8. Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation arxiv 2021
  9. Wrapp-up: A dual-arm robot for intralogistics RA-M 2020
  10. Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors Humanoids 2020
  11. Discrete Bimanual Manipulation for Wrench Balancing ICRA 2020
  12. Dual-arm robotic needle insertion with active tissue deformation for autonomous suturing RA-L 2019
  13. Admittance control for collaborative dual-arm manipulation ICAR 2019
  14. Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics TFS 2019
  15. Autonomous Dual-Arm Manipulation of Familiar Objects Humanoids 2018
  16. A Certified-Complete Bimanual Manipulation Planner T-ASE 2018
  17. Anthropomorphic, Compliant and Lightweight Dual Arm System for Aerial Manipulation IROS 2017
  18. Neural control of bimanual robots with guaranteed global stability and motion precision IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2016
  19. Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism IEEE TRANSACTIONS ON CYBERNETICS 2015
  20. Bimanual grasp planning Humanoids 2011

Telemanipulation

  1. Cooperative Manipulation of Deformable Objects by Single-Leader-Dual-Follower Teleoperation T-IE 2022
  2. Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance ECMR 2021
  3. Online Recognition of Bimanual Coordination Provides Important Context for Movement Data in Bimanual Teleoperated Robots IROS 2021
  4. Single Master Bimanual Teleoperation System With Efficient Regulation T-RO 2020
  5. Relative Impedance-Based Internal Force Control for Bimanual Robot Teleoperation With Varying Time Delay T-IE 2020
  6. Shared Autonomous Interface for Reducing Physical Effort in Robot Teleoperation via Human Motion Mapping ICRA 2020
  7. Shared-Control-Based Bimanual Robot Manipulation Science Robotics 2019 | video
  8. An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks IROS 2019
  9. A wearable, ultralight interface for bimanual teleoperation of a compliant, whole-body-controlled humanoid robot ICRA 2019
  10. Adaptive Robust Control for Bimanual Cooperative Contact Teleoperation with Relative Jacobian Matrix Journal of Intelligent & Robotic Systems 2019
  11. Human-Robot Interaction Through Fingertip Haptic Devices for Cooperative Manipulation Tasks RO-MAN 2019
  12. Physical Fatigue Analysis of Assistive Robot Teleoperation via Whole-body Motion Mapping IROS 2019
  13. Shared-Autonomy Control for Intuitive Bimanual Tele-manipulation Humanoids 2018 (Dual panda)

Devices

End-effector

  1. Bimanual Handling of Deformable Objects With Hybrid Adhesion RA-L 2022

Application

TODO: Reclassification

Fold clothes

  1. Benchmarking Bimanual Cloth Manipulation RA-L 2020

  2. Dynamic cloth manipulation with deep reinforcement learning ICRA 2020

  3. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes T-RO 2018

  4. Bimanual robotic cloth manipulation for laundry folding IROS 2011

Assembly

  1. A survey of dual-arm robotic issues on assembly tasks Robot Design, Dynamics and Control, 2019

  2. Dual arm robot in cooperation with humans for flexible assembly 2017

  3. Bimanual Folding Assembly: Switched Control and Contact Point Estimation Humanoids 2016

  4. Robotized assembly process using Dual arm robot 2014

  5. Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System URAI 2014

  6. Intuitive dual arm robot programming for assembly operations 2014

Bin Packing

  1. A Framework for Robotic Bin Packing with a Dual-Arm Configuration Advances in Mechanism and Machine Science 2018

Exoskeletons

  1. A Dual Arm Haptic Exoskeleton for Dynamical Coupled Manipulation AIM 2021
  2. Human-inspired control of dual-arm exoskeleton robots with force and impedance adaptation T-SMC 2020
  3. Coordination Control of a Dual-Arm Exoskeleton Robot Using Human Impedance Transfer Skills T-SMC 2019
  4. Asymmetric bimanual control of dual-arm exoskeletons for human-cooperative manipulations T-RO 2018

Bio-medical

  1. Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization T-MRB 2022

Related Robots/Labs

Robots

  1. CURI

    CURI

  2. PR2

    pr2

  3. ABB YuMi

    ABB YuMi

  4. Rethink Baxter and Sawyer (Of course it's not dual-arm)

    baxter-sawyer

Labs

  1. CLOVER Lab (Collaborative and Versatile Robots Laboratory), The Chinese University of Hong Kong.