← 研踪 PaperTrailarXiv:2611.10410 · v1
SimDuoReal: Object-Centric Bimanual Policy for Emergent Dexterity
首次提交 2026-11-07 10:44
版本更新 2026-11-07 10:44
雷达观测 2026-11-10 10:11
摘要
Bimanual dexterous manipulation requires coordinated arm and hand control, yet specifying such coordination manually is challenging and often task-specific. In this work, we explore whether complex bimanual dexterity can emerge from a simple object-centric learning objective. We train reinforcement learning policies under a shared object-centric reward, varying their training environments rather than tuning separate rewards for each behavior. We find that the policies discover pre-grasp manipulation, grasping and regrasping, in-hand adjustment and handover to reach object-pose goals without hand-designed motion sequences. We then refine the experts on transition states and use DAgger and reinforcement learning to distill them into a single policy that composes these behaviors for diverse bimanual tasks. On real hardware, the same policy succeeds in 61 of 80 trials (76.3\%) across four tasks with unseen objects and no task-specific fine-tuning. In simulated barcode scanning, our policy achieves 85.0\% success, compared with 60.4\% for two single-arm policies without handover. These results suggest that this objective provides a simple and scalable interface for learning general bimanual dexterity, shifting the burden from manually designing robot coordination to specifying what should happen to the object.
作者备注：Website: https://simduoreal.github.io
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v1 · 2026-11-07 10:44 · 最新观测版本
SimDuoReal: Object-Centric Bimanual Policy for Emergent Dexterity
Bimanual dexterous manipulation requires coordinated arm and hand control, yet specifying such coordination manually is challenging and often task-specific. In this work, we explore whether complex bimanual dexterity can emerge from a simple object-centric learning objective. We train reinforcement learning policies under a shared object-centric reward, varying their training environments rather than tuning separate rewards for each behavior. We find that the policies discover pre-grasp manipulation, grasping and regrasping, in-hand adjustment and handover to reach object-pose goals without hand-designed motion sequences. We then refine the experts on transition states and use DAgger and reinforcement learning to distill them into a single policy that composes these behaviors for diverse bimanual tasks. On real hardware, the same policy succeeds in 61 of 80 trials (76.3\%) across four tasks with unseen objects and no task-specific fine-tuning. In simulated barcode scanning, our policy achieves 85.0\% success, compared with 60.4\% for two single-arm policies without handover. These results suggest that this objective provides a simple and scalable interface for learning general bimanual dexterity, shifting the burden from manually designing robot coordination to specifying what should happen to the object.
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