Learn the Task, Not the Schedule: Reducing Spurious Cross-Arm Coupling in Bimanual Imitation Learning
A bimanual demonstration specifies both what the robot should do and one particular schedule for when each arm should act. Standard imitation learning does not distinguish task-required cross-arm constraints from incidental scheduling choices, and may therefore exploit opposite-arm progress as a shortcut cue, creating spurious cross-arm coupling even where relative timing is irrelevant for the current task phase. We introduce Constraint-preserving Temporal Recombination (CTR), a training-time data intervention that preserves recorded arm-local sensorimotor content while retiming the corresponding segments to realize admissible schedules that preserve task-required cross-arm constraints. W...
| Authors | Shuyuan Hu, Deng-Ke Wu, Yifan Jin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
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