中文标题#
多任务双臂餐桌服务操作的虚拟现实遥操作与示范学习
英文标题#
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
中文摘要#
本技术报告介绍了在 ICRA 2025 What Bimanuals Can Do (WBCD) 竞赛中表格服务赛道的冠军解决方案。我们应对了一系列严格要求速度、精度和可靠性的挑战性任务：展开桌布（可变形物体操作）、将披萨放入容器（抓取与放置），以及带盖的食品容器的开合。我们的解决方案结合了基于虚拟现实的远程操作和从示范中学习（LfD），以平衡鲁棒性和自主性。大多数子任务通过高保真远程操作执行，而披萨放置则由基于 ACT 的策略处理，该策略通过 100 次随机初始配置的人工远程操作示范进行训练。通过仔细整合评分规则、任务特征和当前技术能力，我们的方法实现了高效和可靠的性能，最终在比赛中获得第一名。
英文摘要#
This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks under strict requirements for speed, precision, and reliability: unfolding a tablecloth (deformable-object manipulation), placing a pizza into the container (pick-and-place), and opening and closing a food container with the lid. Our solution combines VR-based teleoperation and Learning from Demonstrations (LfD) to balance robustness and autonomy. Most subtasks were executed through high-fidelity remote teleoperation, while the pizza placement was handled by an ACT-based policy trained from 100 in-person teleoperated demonstrations with randomized initial configurations. By carefully integrating scoring rules, task characteristics, and current technical capabilities, our approach achieved both high efficiency and reliability, ultimately securing the first place in the competition.
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