Cover Image

Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Gao, Jianfeng, Jin, Xiaoshu, Krebs, Franziska, Jaquier, Noémie, Asfour, Tamim
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
by: Daab, Tilman, et al.
Published: (2023)

Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement
by: Cai, Yichen, et al.
Published: (2024)

Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning
by: Jaquier, Noémie, et al.
Published: (2023)

Learning Symbolic and Subsymbolic Temporal Task Constraints from Bimanual Human Demonstrations
by: Dreher, Christian, et al.
Published: (2024)

Riemannian Flow Matching Policy for Robot Motion Learning
by: Braun, Max, et al.
Published: (2024)

Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
by: Dreher, Christian, et al.
Published: (2026)

Taxonomy-aware Dynamic Motion Generation on Hyperbolic Manifolds
by: Augenstein, Luis, et al.
Published: (2025)

PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Tasks
by: Grotz, Markus, et al.
Published: (2024)

Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds
by: Jaquier, Noémie, et al.
Published: (2022)

Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations
by: Plonka, Björn S., et al.
Published: (2024)

Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
by: Geiger, Noah, et al.
Published: (2025)

MAkEable: Memory-centered and Affordance-based Task Execution Framework for Transferable Mobile Manipulation Skills
by: Pohl, Christoph, et al.
Published: (2024)

Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration
by: Lagomarsino, Marta, et al.
Published: (2025)

KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments
by: Younes, Abdelrahman, et al.
Published: (2024)

Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges
by: Jaquier, Noémie, et al.
Published: (2023)

Adaptive Domain Modeling with Language Models: A Multi-Agent Approach to Task Planning
by: Babu, Harisankar, et al.
Published: (2025)

A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
by: Drolet, Michael, et al.
Published: (2024)

SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
by: Wang, Shengjie, et al.
Published: (2025)

On Probabilistic Pullback Metrics for Latent Hyperbolic Manifolds
by: Augenstein, Luis, et al.
Published: (2024)

AutoGPT+P: Affordance-based Task Planning with Large Language Models
by: Birr, Timo, et al.
Published: (2024)

CLEVER: Stream-based Active Learning for Robust Semantic Perception from Human Instructions
by: Lee, Jongseok, et al.
Published: (2025)

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching
by: Ding, Haoran, et al.
Published: (2025)

A Riemannian Framework for Learning Reduced-order Lagrangian Dynamics
by: Friedl, Katharina, et al.
Published: (2024)

BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination
by: Peng, Xingyu, et al.
Published: (2026)

Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
by: Kiemel, Jonas, et al.
Published: (2024)

Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning
by: Herbert, Franziska, et al.
Published: (2026)

Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces
by: Cai, Kuanqi, et al.
Published: (2025)

Learning to Forget -- Hierarchical Episodic Memory for Lifelong Robot Deployment
by: Bärmann, Leonard, et al.
Published: (2026)

BiKC+: Bimanual Hierarchical Imitation with Keypose-Conditioned Coordination-Aware Consistency Policies
by: Xu, Hang, et al.
Published: (2026)

Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models
by: Mustafa, Abdullah, et al.
Published: (2024)

Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
by: Hadjiloizou, Loizos, et al.
Published: (2026)

BiNoMaP: Learning Category-Level Bimanual Non-Prehensile Manipulation Primitives
by: Zhou, Huayi, et al.
Published: (2025)

Influence of Motion Restrictions in an Ankle Exoskeleton on Gait Kinematics and Stability in Straight Walking
by: Dezman, Miha, et al.
Published: (2024)

ALPHA-$α$ and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
by: Kobayashi, Masato, et al.
Published: (2024)

BiPreManip: Learning Affordance-Based Bimanual Preparatory Manipulation through Anticipatory Collaboration
by: Shen, Yan, et al.
Published: (2026)

GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
by: Chen, Wei, et al.
Published: (2025)

On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning
by: Lips, Thomas, et al.
Published: (2026)

Riemann$^2$: Learning Riemannian Submanifolds from Riemannian Data
by: Rozo, Leonel, et al.
Published: (2025)

Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks
by: Zhang, Tianle, et al.
Published: (2024)

SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation
by: Deng, Haoyuan, et al.
Published: (2025)