Bunny-VisionPro：面向模仿学习的实时双手灵巧遥操作系统
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning
AI总结：
Bunny-VisionPro 提出了一种基于 VR 头显的实时双手灵巧遥操作系统，通过低成本触觉反馈、碰撞与奇异性规避提升安全性和沉浸感，在标准任务上取得更高成功率和更短完成时间，并显著改善模仿学习的泛化能力，支持多阶段长时程灵巧操作任务。
摘要：
遥操作是收集人类演示数据的关键工具，但控制具有双手灵巧手的机器人仍然是一项挑战。现有遥操作系统难以应对协调双手进行精细操作的复杂性。我们提出了 Bunny-VisionPro，一个利用 VR 头显的实时双手灵巧遥操作系统。与以往基于视觉的遥操作系统不同，我们设计了新颖的低成本设备，为操作者提供触觉反馈，从而增强沉浸感。该系统通过融入碰撞与奇异性规避来优先保障安全性，同时借助创新设计保持实时性能。Bunny-VisionPro 在标准任务套件上优于先前系统，取得了更高的成功率和更短的任务完成时间。此外，高质量的遥操作演示提升了后续模仿学习的性能，带来了更好的泛化能力。值得注意的是，Bunny-VisionPro 使得具有挑战性的多阶段、长时程灵巧操作任务的模仿学习成为可能，而此前的工作很少涉及此类任务。该系统能够在优先保障安全性和实时性能的同时处理双手操作，使其成为推进灵巧操作与模仿学习的有力工具。
英文摘要：
Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-time bimanual dexterous teleoperation system that leverages a VR headset. Unlike previous vision-based teleoperation systems, we design novel low-cost devices to provide haptic feedback to the operator, enhancing immersion. Our system prioritizes safety by incorporating collision and singularity avoidance while maintaining real-time performance through innovative designs. Bunny-VisionPro outperforms prior systems on a standard task suite, achieving higher success rates and reduced task completion times. Moreover, the high-quality teleoperation demonstrations improve downstream imitation learning performance, leading to better generalizability. Notably, Bunny-VisionPro enables imitation learning with challenging multi-stage, long-horizon dexterous manipulation tasks, which have rarely been addressed in previous work. Our system's ability to handle bimanual manipulations while prioritizing safety and real-time performance makes it a powerful tool for advancing dexterous manipulation and imitation learning.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
