Zhaotai Shi

VTAO-BiManip: Masked Visual-Tactile-Action Pre-training with Object Understanding for Bimanual Dexterous Manipulation

Bimanual dexterous manipulation remains a significant challenge in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but fail to generalize to complex bimanual tasks involving multip