RoTri-Diff: 空間的なロボット-物体三者間相互作用に基づく両腕操作のための拡散モデル
RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation
両腕と操作対象物の間の相対的な6D姿勢を符号化した三者間相互作用表現を導入し、階層的拡散過程で軌道生成する模倣学習フレームワークを提案。シミュレーションと実機で高い性能を実証した。
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著者: Zixuan Chen, Nga Teng Chan, Yiwen Hou, Chenrui Tie, Zixuan Liu, Haonan Chen, Junting Chen, Jieqi Shi, Yang Gao, Jing Huo, Lin Shao
分類: cs.RO
原文アブストラクト
Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether robot-centric or object-centric, often overlook the dynamic geometric relationship among the two arms and the manipulated object. This limitation frequently leads to inter-arm collisions, unstable grasps, and degraded performance in complex tasks. To address this, in this paper we explicitly models the Robot-Object Triadic Interaction (RoTri) representation in bimanual systems, by encoding the relative 6D poses between the two arms and the object to capture their spatial triadic relationship and establish continuous triangular geometric constraints. Building on this, we further introduce RoTri-Diff, a diffusion-based imitation learning framework that combines RoTri constraints with robot keyposes and object motion in a hierarchical diffusion process. This enables the generation of stable, coordinated trajectories and robust execution across different modes of bimanual manipulation. Extensive experiments show that our approach outperforms state-of-the-art baselines by 10.2% on 11 representative RLBench2 tasks and achieves stable performance on 4 challenging real-world bimanual tasks. Project website: https://rotri-diff.github.io/.
