OmniManip is a hardware-agnostic approach that can be easily deployed on various types of robotic embodiments. It utilizes the common-sense understanding capabilities of Vision-Language Models (VLM) to achieve open-vocabulary manipulation. We have implemented this operational framework on AgiBot's dual-arm humanoid robot.

Evaluating and reproducing real-world robot manipulation policies (e.g., RT-1, RT-1-X, Octo) in simulation under common setups (e.g., Google Robot, WidowX+Bridge) (CoRL 2024)

2015年2月5日 · In this paper we present a formal hybrid dynamical system model that introduces suitably restricted compositions of these familiar abstractions with the guarantee of consistency analogous to global existence and uniqueness in classical dynamical systems.

2024年5月7日 · Recent advances in robot skill learning have unlocked the potential to construct task-agnostic skill libraries, facilitating the seamless sequencing of multiple simple manipulation primitives (aka. skills) to tackle significantly more complex tasks.

SimplerEnv 是一个基于 SAPIEN 模拟器和 ManiSkill2 基准的开源项目,为真实机器人操作策略评估提供高效可扩展的模拟环境。 它包含视觉匹配和变体聚合两种评估方法,支持 RT-1 和 Octo 等策略的测试,并允许添加新的机器人和环境。 该项目旨在推动真实到模拟评估技术的发展,为机器人操作策略研究提供标准化的评估工具。 在构建通用机器人操作策略方面已取得重大进展，但其可扩展和可复现的评估仍然具有挑战性，因为真实世界的评估在操作上成本高昂且效率低下。 我们建 …

smot is a command line tool for sampling and manipulating phylogenetic trees. smot is available through PyPi and dependes on Python 3.7. In can be installed as follows: It may be necessary to replace pip with pip3. You can access usage information from the command line: Usage: smot [OPTIONS] COMMAND [ARGS]... Simple Manipulation Of Trees.

2025年1月22日 · Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through complex relative motions.

We introduce SIMPLER, a suite of open-source simulated evaluation environments for common real robot manipulation setups. All environments expose a uniform Gym API. Additionally, we open-source policy inference code (e.g., RT-1, RT-1-X, Octo) for real-to-sim evaluation, and we provide a detailed guide for evaluating new policies and creating ...

abstract, we present a manipulation metric for grasp selection based on a combined arm-and-grasp measure evaluated at each task step. We analyze 3 simple tasks (pick-up, pick-and-place and pouring tasks) and show the advantages of using our metric: (1) Shorter end-effector displacements and (2) Higher planning success rates.

2023年12月24日 · Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation.