AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation

Performing general language-conditioned bimanual manipulation tasks is of great importance for many applications ranging from household service to industrial assembly. However, collecting bimanual manipulation data is expensive due to the high-dimensional action space, which poses challenges for conventional methods to handle general bimanual manipulation tasks. In contrast, unimanual policy has recently demonstrated impressive generalizability across a wide range of tasks because of scaled model parameters and training data, which can provide sharable manipulation knowledge for bimanual systems. To this end, we propose a plug-and-play method named AnyBimanual, which transfers pre-trained unimanual policy to general bimanual manipulation policy with few bimanual demonstrations. Specifically, we first introduce a skill manager to dynamically schedule the skill representations discovered from pre-trained unimanual policy for bimanual manipulation tasks, which linearly combines skill primitives with task-oriented compensation to represent the bimanual manipulation instruction. To mitigate the observation discrepancy between unimanual and bimanual systems, we present a visual aligner to generate soft masks for visual embedding of the workspace, which aims to align visual input of unimanual policy model for each arm with those during pretraining stage. AnyBimanual shows superiority on 12 simulated tasks from RLBench2 with a sizable 12.67% improvement in success rate over previous methods. Experiments on 9 real-world tasks further verify its practicality with an average success rate of 84.62%.

ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they suffer from severe runtime inefficiency due to multiple denoising steps, especially with high-dimensional observations. To this end, we propose a real-time robotic manipulation model named ManiCM that imposes the consistency constraint to the diffusion process, so that the model can generate robot actions in only one-step inference. Specifically, we formulate a consistent diffusion process in the robot action space conditioned on the point cloud input, where the original action is required to be directly denoised from any point along the ODE trajectory. To model this process, we design a consistency distillation technique to predict the action sample directly instead of predicting the noise within the vision community for fast convergence in the low-dimensional action manifold. We evaluate ManiCM on 31 robotic manipulation tasks from Adroit and Metaworld, and the results demonstrate that our approach accelerates the state-of-the-art method by 10 times in average inference speed while maintaining competitive average success rate.

ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation

Performing language-conditioned robotic manipulation tasks in unstructured environments is highly demanded for general intelligent robots. Conventional robotic manipulation methods usually learn semantic representation of the observation for action prediction, which ignores the scene-level spatiotemporal dynamics for human goal completion. In this paper, we propose a dynamic Gaussian Splatting method named ManiGaussian for multi-task robotic manipulation, which mines scene dynamics via future scene reconstruction. Specifically, we first formulate the dynamic Gaussian Splatting framework that infers the semantics propagation in the Gaussian embedding space, where the semantic representation is leveraged to predict the optimal robot action. Then, we build a Gaussian world model to parameterize the distribution in our dynamic Gaussian Splatting framework, which provides informative supervision in the interactive environment via future scene reconstruction. We evaluate our ManiGaussian on 10 RLBench tasks with 166 variations, and the results demonstrate our framework can outperform the state-of-the-art methods by 13.1\% in average success rate.

ThinkBot: Embodied Instruction Following with Thought Chain Reasoning

Embodied Instruction Following (EIF) requires agents to complete human instruction by interacting objects in complicated surrounding environments. Conventional methods directly consider the sparse human instruction to generate action plans for agents, which usually fail to achieve human goals because of the instruction incoherence in action descriptions. On the contrary, we propose ThinkBot that reasons the thought chain in human instruction to recover the missing action descriptions, so that the agent can successfully complete human goals by following the coherent instruction. Specifically, we first design an instruction completer based on large language models to recover the missing actions with interacted objects between consecutive human instruction, where the perceived surrounding environments and the completed sub-goals are considered for instruction completion. Based on the partially observed scene semantic maps, we present an object localizer to infer the position of interacted objects for agents to achieve complex human goals. Extensive experiments in the simulated environment show that our ThinkBot outperforms the state-of-the-art EIF methods by a sizable margin in both success rate and execution efficiency.

Semi-Supervised Subspace Clustering via Tensor Low-Rank Representation

In this letter, we propose a novel semi-supervised subspace clustering method, which is able to simultaneously augment the initial supervisory information and construct a discriminative affinity matrix. By representing the limited amount of supervisory information as a pairwise constraint matrix, we observe that the ideal affinity matrix for clustering shares the same low-rank structure as the ideal pairwise constraint matrix. Thus, we stack the two matrices into a 3-D tensor, where a global low-rank constraint is imposed to promote the affinity matrix construction and augment the initial pairwise constraints synchronously. Besides, we use the local geometry structure of input samples to complement the global low-rank prior to achieve better affinity matrix learning. The proposed model is formulated as a Laplacian graph regularized convex low-rank tensor representation problem, which is further solved with an alternative iterative algorithm. In addition, we propose to refine the affinity matrix with the augmented pairwise constraints. Comprehensive experimental results on six commonly-used benchmark datasets demonstrate the superiority of our method over state-of-the-art methods. The code is publicly available at https://github.com/GuanxingLu/Subspace-Clustering.