AutoBio+: Benchmarking Dexterous Manipulation with Dynamic Experimental Phenomena in Realistic Laboratories
To enable systematic evaluation under these conditions, we introduce AutoBio+, a simulation benchmark and framework for dexterous manipulation in realistic biological laboratory environments.
ProofPaper ↗
Key points
- Automating biological laboratories requires robots to perform dexterous tool interactions under realistic visual conditions while handling dynamic experimental phenomena, presenting significant challenges for robotic manipulation.
- We introduce controllable dynamic experimental phenomena, including flames, vapor, and bubbles, to capture the evolving visual conditions of laboratory procedures.
- To further enhance environmental realism, we develop a hybrid rendering pipeline that integrates interactive simulated foreground objects with Gaussian-splatting backgrounds reconstructed from 6 real laboratory scenes.
- For efficient large-scale data generation and evaluation, we further build a parallel simulation framework on top of mjlab, proposing Parallel Finite-State Machine (PFSM) and integrating batched rendering with decoupled trajectory replay for demonstration generation and model-independent closed-loop policy evaluation.
Sources (1)
- [1]AutoBio+: Benchmarking Dexterous Manipulation with Dynamic Experimental Phenomena in Realistic LaboratoriesarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 9, 02:21 PM
To enable systematic evaluation under these conditions, we introduce AutoBio+, a simulation benchmark and framework for dexterous manipulation in realistic biological laboratory environments.
Automating biological laboratories requires robots to perform dexterous tool interactions under realistic visual conditions while handling dynamic experimental phenomena, presenting significant challenges for robotic manipulation.
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