中文标题#
多任務雙臂餐桌服務操作的虛擬現實遙操作與示範學習
英文标题#
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
中文摘要#
本技術報告介紹了在 ICRA 2025 What Bimanuals Can Do (WBCD) 競賽中表格服務賽道的冠軍解決方案。我們應對了一系列嚴格要求速度、精度和可靠性的挑戰性任務：展開桌布（可變形物體操作）、將披薩放入容器（抓取與放置），以及帶蓋的食品容器的開合。我們的解決方案結合了基於虛擬現實的遠程操作和從示範中學習（LfD），以平衡魯棒性和自主性。大多數子任務通過高保真遠程操作執行，而披薩放置則由基於 ACT 的策略處理，該策略通過 100 次隨機初始配置的人工遠程操作示範進行訓練。通過仔細整合評分規則、任務特徵和當前技術能力，我們的方法實現了高效和可靠的性能，最終在比賽中獲得第一名。
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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