Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy
Paper • 2602.01939 • Published • 1
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BAPData (EFM-10 Benchmark)
BAPData is a dataset introduced in the paper "Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy". It is designed for the EFM-10 benchmark, which consists of 10 tasks across 4 categories focused on Exploratory and Focused Manipulation (EFM).
The dataset focuses on challenges where robots must actively collect information (through vision and force sensing) to complete manipulation tasks, especially when visual occlusion is present. The data was collected using a Bimanual Active Perception (BAP) strategy, leveraging one robotic arm for active vision and another for manipulation and force sensing.
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