InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation

摘要

Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dependency aware Action Chunking with Hierarchical Attention Transformers, a novel imitation learning framework designed specifically for bimanual manipulation. InterACT leverages hierarchical attention mechanisms to effectively capture inter-dependencies between dual-arm joint states and visual inputs. The framework comprises a Hierarchical Attention Encoder, which processes multi-modal inputs through segment-wise and cross-segment attention mechanisms, and a Multi-arm Decoder that generates each arm's action predictions in parallel, while sharing information between the arms through synchronization blocks by providing the other arm's intermediate output as context. Our experiments, conducted on various simulated and real-world bimanual manipulation tasks, demonstrate that InterACT outperforms existing methods. Detailed ablation studies further validate the significance of key components, including the impact of CLS tokens, cross-segment encoders, and synchronization blocks on task performance. We provide supplementary materials and videos on our project page.