bimanual 开源项目推荐（19 个）

google-research /robopianist

[CoRL '23] Dexterous piano playing with deep reinforcement learning.

markusgrotz /peract_bimanual

PerAct² 代码，这是一种语言条件模仿学习代理，专为利用 RLBench 环境进行双手机器人操作而设计。它包括数据集生成、训练脚本和用于复杂任务中双机械臂6度深度控制的评估工具。

Ropedia /DONIC

DONIC: Generalist Dexterous Bimanual Tracking Control from Human Demonstrations

newdexterity /Open-Biomanual-Manipulation-System

The New Dexterity Open-Bimanual-Manipulator project

Soltanilara /giava

Code for paper: "Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers"

AKS-Lab-Univertsity-of-Tartu /bimanual_manipulation

This repository is for tracking progress of bimanual manipulation for different tasks.

Kchu /LLM-MAP

Official implementation of LLM+MAP: Bimanual Robot Task Planning using Large Language Models (LLMs) and Planning Domain Definition Language (PDDL). Codes and files are coming soon.

XenseRobotics-AI /lerobot-xense

Xense robot-learning platform — a LeRobot v5.1 fork adding Flexiv Rizon4, Elite CS66, ARX5 and tactile grippers (single-arm and bimanual) with VR, SpaceMouse and gamepad teleoperation.

SUNNYsyy2005 /bimanual-vla

End-to-end Piper bimanual VLA framework with Quest VR teleoperation, human-in-the-loop RECAP interventions, LeRobot datasets, OpenPI π0/π0.5 training, and real-time RTC + Ruckig deployment.

Manas-arumalla /openarm-control

A tested control, planning, perception, bimanual, and learning platform for the Enactic OpenArm v2 (7-DOF x2) in MuJoCo: IK / Cartesian / compliant control, RRT-Connect planning, dynamic catching and throwing, articulated / cloth manipulation, language-commanded skills, a learned ACT vision policy, RL insertion, and OpenArm-Bench.

personalrobotics /geodude

Geodude bimanual robot control library

ismael-esp /allegro-hand-retargeting

Real-time Manus glove to Allegro Hand retargeting for both hands of a dual-arm robot: learned geometric retargeting (GeoRT fork) + ROS 2 bridge + rule-based baseline

yasuo1015 /robopianist

RoboPianist with tactile feedback and velocity-based evaluation for piano playing.

raklokesh /Bimanual_UCM_Simulation

Identifying actions belonging to the Uncontrolled Manifold for bimanual manipulation of a cursor using reinforcement learning.

RobotFlow-Labs /project_manip_ultradex

MANIP-ULTRADEX — Bimanual Dexterous Grasping

ismael-esp /dual-arm-allegro-ros2

ROS 2 Jazzy drivers for a bimanual UR3/UR3e torso with two Allegro Hand V4 and Intel RealSense cameras: URDF + collision model, ros2_control, Allegro PCAN driver, Docker

robotmabel /website

The MABEL project website

woolimi /pinkrab

A wall-mounted, bimanual 6-DoF robot and Hermit, the handheld UMI gripper that teaches it. Collect demonstrations by hand, train with LeRobot, run the policy on the arms.

ismael-esp /robotic-origami-challenge

FoldingACT: multimodal (vision + tactile) imitation-learning policy for bimanual dexterous paper folding, IROS 2026 Robotic Origami Challenge