{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:38:38Z","timestamp":1777657118742,"version":"3.51.4"},"reference-count":0,"publisher":"Association for the Advancement of Artificial Intelligence (AAAI)","issue":"34","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["AAAI"],"abstract":"<jats:p>Bimanual dexterous manipulation is a critical yet underexplored area in robotics. Its high-dimensional action space and inherent task complexity present significant challenges for policy learning, and the limited task diversity in existing benchmarks hinders general-purpose skill development. Existing approaches largely depend on reinforcement learning, often constrained by intricately designed reward functions tailored to a narrow set of tasks. In this work, we present a novel approach for efficiently learning diverse bimanual dexterous skills from abundant human demonstrations. Specifically, we introduce BiDexHD, a framework that unifies task construction from existing bimanual datasets and employs teacher-student policy learning to address all tasks. The teacher learns state-based policies using a general two-stage reward function across tasks with shared behaviors, while the student distills the learned multi-task policies into a vision-based policy. With BiDexHD, scalable learning of numerous bimanual dexterous skills from auto-constructed tasks becomes feasible, offering promising advances toward universal bimanual dexterous manipulation. Experiments on TACO tool-using dataset spanning 141 tasks across 6 categories demonstrate a task fulfillment rate of 74.59% on trained tasks and 51.07% on unseen tasks. We further transfer BiDexHD to 11 ARCTIC collaborative tasks and achieve an average of 80.49% task fulfillment rate on trained tasks and 65.99% on unseen task. All empirical results demonstrate the effectiveness and competitive zero-shot generalization capabilities of BiDexHD.<\/jats:p>","DOI":"10.1609\/aaai.v40i34.40127","type":"journal-article","created":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T02:25:36Z","timestamp":1773800736000},"page":"28919-28927","source":"Crossref","is-referenced-by-count":2,"title":["Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations"],"prefix":"10.1609","volume":"40","author":[{"given":"Bohan","family":"Zhou","sequence":"first","affiliation":[]},{"given":"Haoqi","family":"Yuan","sequence":"additional","affiliation":[]},{"given":"Yuhui","family":"Fu","sequence":"additional","affiliation":[]},{"given":"Zongqing","family":"Lu","sequence":"additional","affiliation":[]}],"member":"9382","published-online":{"date-parts":[[2026,3,14]]},"container-title":["Proceedings of the AAAI Conference on Artificial Intelligence"],"original-title":[],"link":[{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/40127\/44088","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/40127\/44088","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T02:25:37Z","timestamp":1773800737000},"score":1,"resource":{"primary":{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/view\/40127"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,14]]},"references-count":0,"journal-issue":{"issue":"34","published-online":{"date-parts":[[2026,3,17]]}},"URL":"https:\/\/doi.org\/10.1609\/aaai.v40i34.40127","relation":{},"ISSN":["2374-3468","2159-5399"],"issn-type":[{"value":"2374-3468","type":"electronic"},{"value":"2159-5399","type":"print"}],"subject":[],"published":{"date-parts":[[2026,3,14]]}}}