We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating heterogeneous input devices into a shared control stack with consistent kinematic treatment and safety guarantees The framework employs nullspace control to optimize bimanual configurations ensuring smooth collisionfree and singularityaware motion across tasks We validate UniBiDex on a longhorizon kitchentidying task involving five sequential manipulation subtasks demonstrating higher task success rates smoother trajectories and improved robustness compared to strong baselines By releasing all hardware and software components as opensource we aim to lower the barrier to collecting largescale highquality human demonstration datasets and accelerate progress in robot learning.

翻译：本文提出UniBiDex——一个支持VR交互与主从跟随两种输入模式的机器人双手灵巧操作一体化遥操作框架。该框架通过将异构输入设备集成至具有统一运动学处理与安全保障的共享控制栈，实现了接触密集型的实时双臂遥操作。本框架采用零空间控制优化双手构型，确保跨任务场景下的平滑、无碰撞且具备奇异性感知的运动轨迹。我们在包含五个连续操作子任务的长期厨房整理任务上验证了UniBiDex，实验表明相较于现有强基线方法，本框架在任务成功率、轨迹平滑度与系统鲁棒性方面均有显著提升。通过开源全部硬件与软件组件，我们旨在降低大规模高质量人类示教数据集的采集门槛，从而加速机器人学习领域的研究进展。