TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation

Abstract

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for systematically studying bimanual capabilities across a wide range of tabletop tasks. This paper addresses the gap by presenting a benchmark for bimanual manipulation. A key functionality is the ability to autonomously generate training data without the necessity of human demonstrations to the robot. We open-source our code and benchmark, which comprises 13 new tasks with 23 unique task variations, each requiring a high degree of coordination and adaptability. To initiate the benchmark, we extended multiple state-of-the-art techniques to the domain of bimanual manipulation. The project website with code is available at: http://bimanual.github.io.