Zheng-Yan-Lam-Bo Qin

Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization

Bimanual object reorientation - picking an object, handing it over between two arms, and placing it in a desired target pose - is valuable when direct placement from the initial grasp is infeasible due to collisions, kinematic constraints, or poor final orientation. However, achieving this under multiple competing obje...