Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy

ArXi:2602.01939v3 Announce Type: replace-cross Recently, active vision has reemerged as an important concept for manipulation, since visual occlusion occurs frequently when main cameras are mounted on the robot heads. We reflect on the visual occlusion issue and identify its essence as the absence of information useful for task completion. Inspired by this, we come up with the fundamental problem of Exploratory and Focused Manipulation (EFM). The proposed problem is about actively collecting information to complete challenging manipulation tasks that require exploration or focus.