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simmediummanipulation-datametric · varies
EnergyAction: Unimanual to Bimanual Composition with Energy-Based Models
Description
Recent advances in unimanual manipulation policies have achieved remarkable success across diverse robotic tasks through abundant training data and well-established model architectures. However, extending these capabilities to bimanual manipulation remains challenging due to the lack of bimanual demonstration data and the complexity of coordinating dual-arm actions. Existing approaches either rely on extensive bimanual datasets or fail to effectively leverage pre-trained unimanual policies. To a