CUBic: Coordinated Unified Bimanual Perception and Control Framework
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both independent perception and coordinated interaction between arms. Existing methods typically favor one side -- either decoupling the two arms to avoid interference or enforcing strong cross-arm coupling for coordination -- thus lacking a unified treatment. We propose CUBic, a Coordinated and Unified framework for Bimanual perception and control that reformulates bimanual coordination as a unified perceptual modeling problem. CUBic learns a shared tokeniz...
| Authors | Xingyu Wang, Pengxiang Ding, Jingkai Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 May 2026 |
| Last updated at source | 13 May 2026 |
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