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simmediummobile-manipulationmetric · varies
MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation
Description
Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming. This challenge intensifies for multi-step bimanual mobile manipulation, where humans must teleoperate both the mobile base and two high-DoF arms. Prior X-Gen works have developed automated data generation frameworks for static (bimanual) manipulation tasks, augmenting a few human demos in simulation with novel scene configura