Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning>

Runyu Ding · Yuzhe Qin · Jiyue Zhu · Chengzhe Jia
Shiqi Yang · Ruihan Yang . Xiaojuan Qi . Xiaolong Wang

Paper | Project Page | Documentation | Teleop Server Code | Haptics Implementation

:wrench: Installation and Usage

Please refer to the documentation for detailed installation and usage instructions.

:tada: News

• [2024/07/16] :fire: Release of real robot control code for the XArm7 and Ability Hand. Check out README.
• [2024/05/06] Initial release with basic usage of bimanual teleoperation with Vision Pro. Check out the documentation.

:white_check_mark: TODO

• [x] Tutorial for initialization
• [x] Tutorial for tips and troubleshooting
• [x] Tutorial for retargeting
• [x] Release haptic feedback device design
• [x] Real control code of XArm7 and Ability Hand
• [ ] Robot collision avoidance
• [ ] Robot arm singularity avoidance
• [ ] Collision-free retargeting

:seedling: Acknowledgement

Our code is built upon VisionProTeleop, dex-retargeting, sim-web-visualizer. We thank all these authors for their nicely open sourced code and their great contributions to the community.

:rabbit: Citation

@article{bunny-visionpro,
    title   = {Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning}, 
    author  = {Runyu Ding and Yuzhe Qin and Jiyue Zhu and Chengzhe Jia and Shiqi Yang and Ruihan Yang and Xiaojuan Qi and Xiaolong Wang},
    year    = {2024},
    url     = {https://arxiv.org/abs/2407.03162}, 
}