发表机构
The Shenzhen Institute of Artificial Intelligence and Robotics for Society; The Chinese University of Hong Kong - Shenzhen（深圳市人工智能与机器人研究院; 香港中文大学（深圳））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对古琴演奏的独特操作挑战，提出异构双臂机器人系统，通过分层规划框架协调手指分配与双臂接触，集成视觉、触觉和听觉反馈，在真实古琴上实现高正确率的短语级演奏。
AI 中文摘要
近年来，人形机器人和具身智能的进步使机器人能够执行日益复杂的操作任务。然而，乐器演奏仍然是一个艰巨的基准，不仅要求无碰撞的轨迹执行，还要求在物理乐器上实现精确的接触时机、不对称的双臂协调以及目标声学效果。古琴是一种七弦无品齐特琴，由于其毫米级的弦间距、瞬态的右手拨弦和持续的左手泛音接触，带来了独特的操作挑战。在这项工作中，我们提出了一种物理异构双臂机器人系统，用于短语级自主古琴演奏。我们将古琴演奏表述为一个混合离散-连续执行问题，并开发了一个分层规划框架，该框架在连续音乐事件之间协调工作手指分配、配置连续性、避障和紧密的双臂接触时间表。该系统集成了视觉引导的乐器定位、基于触觉的泛音接触监测以及听觉反馈信息的拨弦参数校准。在25个事件的短语上的真实世界实验表明，该系统能够在物理古琴上可靠地执行协调的空弦和七徽泛音序列，在重复试验中实现了93.6%和96.8%的事件正确率。
英文摘要
Recent advances in humanoid robotics and embodied intelligence have enabled robots to perform increasingly complex manipulation tasks. However, musical instrument performance remains a formidable benchmark, demanding not only collision-free trajectory execution but also precise contact timing, asymmetric bimanual coordination, and target acoustic outcomes on physical instruments. The guqin, a seven-string fretless zither, presents unique manipulation challenges due to its millimetric string spacing, transient right-hand plucking, and sustained left-hand harmonic contacts. In this work, we present a physical heterogeneous dual-arm robotic system for phrase-level autonomous guqin performance. We formulate guqin playing as a hybrid discrete--continuous execution problem and develop a hierarchical planning framework that coordinates working finger assignment, configuration continuity, obstacle avoidance, and tight bimanual contact schedules across consecutive musical events. The system integrates vision-guided instrument localization, tactile-based harmonic contact monitoring, and auditory feedback-informed plucking parameter calibration. Real-world experiments on a 25-event phrase demonstrate that the system reliably executes coordinated open-string and seventh-hui harmonic sequences on a physical guqin, achieving 93.6% and 96.8% event correctness across repeated trials.
