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Home lab · Bimanual learning

Ongoing Bimanual Robot Learning

2025 → · Home lab

Leader-follower teleop with leader arms in the foreground and follower SO-101 arms on the desk
Leader-follower teleop — leader arms mirrored by follower SO-101 arms with overhead camera
VR teleop

Started with bimanual VR teleop for data collection and control testing.

Diffusion policy

Managed to get a diffusion policy running on the home lab bimanual setup.

Leader-follower teleop

Switched to leader-follower teleop—it’s easier than VR and allows more complex bimanual tasks.

Towel folding

Bimanual leader follower teleop towel folding

Bimanual diffusion policy inference

Diffusion policy inference on the bimanual home lab setup.