Jul 2026
Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization
BiCompoDiff is introduced, a compositional diffusion and energy-based framework that jointly optimizes grasp selection, handover, regrasp, and motion planning under multiple constraints that achieves effective sim-to-real transfer and robust performance on challenging scenes.
Wun-Lam Yeung, Wen-Jun Liu, Yui-Cheung Yu et al.
· arXiv.org · 0 citations