Bridging Task Planning and Execution for Language-Conditioned Bimanual Manipulation
Bridging Task Planning and Execution for Language-Conditioned Bimanual Manipulation
This research introduces a zero-shot vision-language framework designed for execution-aware bimanual manipulation on humanoid robots.
The study presents a zero-shot vision-language framework for bimanual manipulation on the CENTAURO robot, demonstrating improved task success and recovery capabilities in nine language-conditioned scenarios compared to a non-execution-aware baseline.
Source: arXiv Robotics — research abstracts · Read original article ↗
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enarios show higher task success than a non-execution-aware baseline. In dedicated failure scenarios, hierarchical validation recovers from execution failures with fewer model queries than always replanning. These results demonstrate the benefits of combining execution reasoning directly into task planning. Videos and additional material are available on the Project Webpage: https://advrhumanoids.github.io/bridging-p
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org