Nga Teng Chan

RoTri-Diff: A Spatial Robot–Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation

Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether robot-centric or object-centric, often overlook the dynamic geom…