Awesome

<p align="center"> <h1 align="center"><img src="docs/assets/logo/bunny.png" width="80">Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning></h1> <p align="center"> <a href="https://dingry.github.io/"><strong>Runyu Ding</strong></a> · <a href="https://yzqin.github.io/"><strong>Yuzhe Qin</strong></a> · <a href="https://jiyuezh.github.io/"><strong>Jiyue Zhu</strong></a> · <a href="https://www.researchgate.net/profile/Chengzhe-Jia"><strong>Chengzhe Jia</strong></a> <br> <a href="https://aaronyang1223.github.io/"><strong>Shiqi Yang</strong></a> · <a href="https://rchalyang.github.io/"><strong>Ruihan Yang</strong></a> . <a href="https://xjqi.github.io/"><strong>Xiaojuan Qi</strong></a> . <a href="https://xiaolonw.github.io/"><strong>Xiaolong Wang</strong></a> </p> <h3 align="center"><a href="https://arxiv.org/abs/2407.03162">Paper</a> | <a href="https://dingry.github.io/projects/bunny_visionpro.html">Project Page</a> | <a href="https://dingry.github.io/BunnyVisionPro/">Documentation</a> | <a href="https://github.com/Dingry/bunny_teleop_server">Teleop Server Code</a> | <a href="https://docs.google.com/document/d/1V2H-Bgph3yEbQx_28yVG5igzBUv5WU2KjNU9RD1ZMk8/edit?usp=sharing">Haptics Implementation</a></h3> <div align="center"></div> </p> <img src="docs/assets/images/Multi_Robot.webp" alt="Teleoperation with various robots.">

: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

Tutorial for initialization
Tutorial for tips and troubleshooting
Tutorial for retargeting
Release haptic feedback device design
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}, 
}