CUBic: Coordinated Unified Bimanual Perception and Control Framework

ArXi:2605.13452v1 Announce Type: cross 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.