Bimanual Dexterity for Complex Tasks

To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous hands. However, creating such a bimanual teleoperation system with over 50 DoF is a significant challenge. To address this, we introduce Bidex, an extremely dexterous, low-cost, low-latency and portable bimanual dexterous teleoperation system which relies on motion capture gloves and teacher arms. We compare Bidex to a Vision Pro teleoperation system and a SteamVR system and find Bidex to produce better quality data for more complex tasks at a faster rate. Additionally, we show Bidex operating a mobile bimanual robot for in the wild tasks. The robot hands (5k USD) and teleoperation system (7k USD) is readily reproducible and can be used on many robot arms including two xArms (16k USD). Website at https://bidex-teleop.github.io/

Structural modeling using overlapped group penalties for discovering predictive biomarkers for subgroup analysis

The identification of predictive biomarkers from a large scale of covariates for subgroup analysis has attracted fundamental attention in medical research. In this article, we propose a generalized penalized regression method with a novel penalty function, for enforcing the hierarchy structure between the prognostic and predictive effects, such that a nonzero predictive effect must induce its ancestor prognostic effects being nonzero in the model. Our method is able to select useful predictive biomarkers by yielding a sparse, interpretable, and predictable model for subgroup analysis, and can deal with different types of response variable such as continuous, categorical, and time-to-event data. We show that our method is asymptotically consistent under some regularized conditions. To minimize the generalized penalized regression model, we propose a novel integrative optimization algorithm by integrating the majorization-minimization and the alternating direction method of multipliers, which is named after \texttt{smog}. The enriched simulation study and real case study demonstrate that our method is very powerful for discovering the true predictive biomarkers and identifying subgroups of patients.