BriefGPT.xyz
Jun, 2024
PerAct2: 一个面向双手操作任务的感知器执行框架
PerAct2: A Perceiver Actor Framework for Bimanual Manipulation Tasks
HTML
PDF
Markus Grotz, Mohit Shridhar, Tamim Asfour, Dieter Fox
TL;DR
扩展RLBench以进行双手操作的模拟基准测试,提供13项新任务和23个独特的任务变体,其中每个任务要求高度的协调和适应性。通过引入多种先进方法和PerAct2语言条件行为克隆代理,实现语言处理与动作预测的高效集成,使机器人能够理解和执行用户指定目标的复杂双手任务。
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
→