Efficient Bimanual Handover and Rearrangement via Symmetry-Aware Actor-Critic Learning
Yunfei Li,Chaoyi Pan,Huazhe Xu,Xiaolong Wang,Yi Wu,Yunfei Li,Chaoyi Pan,Huazhe Xu,Xiaolong Wang,Yi Wu
Bimanual manipulation is important for building intelligent robots that unlock richer skills than single arms. We consider a multi-object bimanual rearrangement task, where a reinforcement learning (RL) agent aims to jointly control two arms to rearrange these objects as fast as possible. Solving this task efficiently is challenging for an RL agent due to the requirement of discovering precise int...
