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Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro

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Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning>

Runyu Ding · Yuzhe Qin · Jiyue Zhu · Chengzhe Jia
Shiqi Yang · Ruihan Yang . Xiaojuan Qi . Xiaolong Wang

Teleoperation with various robots.

🔧 Installation and Usage

Please refer to the documentation for detailed installation and usage instructions.

🎉 News

  • [2024/07/16] 🔥 Release of real robot control code for the XArm7 and Ability Hand. Check out README.
  • [2024/05/06] Initial release with basic usage of bimanual teleoperation with Vision Pro. Check out the documentation.

✅ TODO

  • Tutorial for initialization
  • Tutorial for tips and troubleshooting
  • Tutorial for retargeting
  • Release haptic feedback device design
  • Real control code of XArm7 and Ability Hand
  • Robot collision avoidance
  • Robot arm singularity avoidance
  • Collision-free retargeting

🌱 Acknowledgement

Our code is built upon VisionProTeleop, dex-retargeting, sim-web-visualizer. We thank all these authors for their nicely open sourced code and their great contributions to the community.

🐰 Citation

@article{bunny-visionpro,
    title   = {Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning}, 
    author  = {Runyu Ding and Yuzhe Qin and Jiyue Zhu and Chengzhe Jia and Shiqi Yang and Ruihan Yang and Xiaojuan Qi and Xiaolong Wang},
    year    = {2024},
    url     = {https://arxiv.org/abs/2407.03162}, 
}

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Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro

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