arXiv 2601.046292026-01-08cs.RO

UniBiDex：一种用于机器人双臂灵巧操作的统一远程操作框架

UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation

Department of Computer Science, The University of Hong Kong（香港大学计算机科学系）；Dongguan Key Laboratory of Intelligent Equipment and Smart Industry, School of Advanced Engineering, The Great Bay University（东莞智能装备与智能制造重点实验室，高级工程学院，大湾区大学）；Department of Mechanical Engineering, The Hong Kong Polytechnic University（香港理工大学机械工程系）；Guangdong Academy of Sciences（广东省科学院）

Zhongxuan Li, Zeliang Guo, Jun Hu, David Navarro-Alarcon, Jia Pan, Hongmin Wu, Peng Zhou

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AI总结：

UniBiDex提出了一种统一的远程操作框架，用于双臂灵巧操作，通过整合异构输入设备实现实时接触丰富的双臂控制，并在厨房清洁任务中展示了更高的任务成功率和鲁棒性。

摘要：

我们提出了UniBiDex，一种用于机器人双臂灵巧操作的统一远程操作框架，支持基于VR和领导者-跟随者输入模式。UniBiDex通过将异构输入设备整合到共享控制栈中，实现实时接触丰富的双臂远程操作，具有一致的运动学处理和安全保证。该框架采用空域控制来优化双臂配置，确保在任务间具有平滑的无碰撞和奇异体感知运动。我们验证了UniBiDex在一项长周期厨房清洁任务上的性能，该任务涉及五个连续的操作子任务，展示了比强基线更高的任务成功率、更平滑的轨迹和改进的鲁棒性。通过开源所有硬件和软件组件，我们旨在降低收集大规模高质量人类演示数据集的门槛，并加速机器人学习的进步。

英文摘要：

We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating heterogeneous input devices into a shared control stack with consistent kinematic treatment and safety guarantees The framework employs nullspace control to optimize bimanual configurations ensuring smooth collisionfree and singularityaware motion across tasks We validate UniBiDex on a longhorizon kitchentidying task involving five sequential manipulation subtasks demonstrating higher task success rates smoother trajectories and improved robustness compared to strong baselines By releasing all hardware and software components as opensource we aim to lower the barrier to collecting largescale highquality human demonstration datasets and accelerate progress in robot 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。