Bimanual Robotic Manipulation

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Overview

Bimanual robotic manipulation studies how two arms perceive, plan, and act together, enabling tasks such as lifting large objects, folding cloth, assembling parts, and using tools. Common approaches include imitation learning from demonstrations, diffusion and vision-language-action policies, reinforcement learning, and model-based motion or force planning; tactile sensing and geometric representations help with contact-rich tasks. Researchers evaluate methods in simulation benchmarks such as RoboTwin and RLBench, as well as on real robots, using tasks that test coordination, generalization, and long-horizon execution. A central challenge is making policies reliable beyond their training scenes and motions, especially when actions are tightly coupled, objects deform, or simulation differs from the physical world.

Latest papers

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189 papers28 papers in the last four weeks, down 15% on the four weeks before. 0.2% of all new papers.

  1. Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning

    Apr 9, 2026Fabian Hahne, Vignesh Prasad, Georgia Chalvatzaki +2Bimanual Robotic ManipulationRobotic Manipulation

    Department of Computer Science, Technical University of Darmstadt · Hessian Center for Artificial Intelligence (Hessian.AI), Darmstadt · Robotics Institute Germany (RIG) +2

  2. TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks

    Apr 8, 2026Longyan Wu, Jieji Ren, Chenghang Jiang +6Robotic Data CollectionContact-Rich Robotic Manipulation

    Fudan University · Shanghai Innovation Institute · OpenDriveLab at The University of Hong Kong +2

  3. BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes

    Apr 8, 2026Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7Robotic GraspingDexterous Manipulation

    Sun Yat-sen University · Peking University · Tsinghua University

  4. BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination

    Apr 7, 2026Xingyu Peng, Chen Gao, Liankai Jin +2Bimanual Robotic ManipulationRobot Manipulation Benchmarks

    Beihang University · Zhongguancun Academy · National University of Singapore

  5. CRAFT: Video Diffusion for Bimanual Robot Data Generation

    Apr 4, 2026Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1Synthetic Data Generation for RoboticsBimanual Robotic Manipulation

    Thomas Lord Department of Computer Science at the University of Southern California, USA

  6. Adapt as You Say: Online Interactive Bimanual Skill Adaptation via Human Language Feedback

    Mar 27, 2026Zhuo Li, Dianxi Li, Tao Teng +5Robot Skill LearningBimanual Robotic Manipulation

    Collaborative and Versatile Robots (CLOVER) Laboratory, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, USA · Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy

  7. Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation

    Mar 26, 2026Gijs van den Brandt, Femke van Beek, Elena TortaBimanual Robotic ManipulationContact-Rich Robotic Manipulation

    Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands

  8. DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming

    Mar 23, 2026Hung-Chieh Fang, Amber Xie, Jennifer Grannen +2Dexterous ManipulationContact-Rich Robotic Manipulation

    Stanford University

  9. BiPreManip: Learning Affordance-Based Bimanual Preparatory Manipulation through Anticipatory Collaboration

    Mar 23, 2026Yan Shen, Feng Jiang, Zichen He +5Affordance-Based Robotic ManipulationRobotic Manipulation

    CFCS, School of Computer Science, Peking University

  10. MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Task-Conditioned Mixture-of-Experts Transformers

    Mar 16, 2026Kangjun Guo, Haichao Liu, Yanji Sun +3Bimanual Robotic ManipulationVisuomotor Policy Learning

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · The Hong Kong University of Science and Technology, Hong Kong SAR, China

  11. Vision-guided Autonomous Dual-arm Extraction Robot for Bell Pepper Harvesting

    Mar 14, 2026Kshitij Madhav Bhat, Tom Gao, Abhishek Mathur +4Robotic HarvestingAgricultural Robotics

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.

  12. Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models

    Mar 12, 2026Melih Özcan, Umut Orguner, Ozgur S. OguzNon-Prehensile Robotic ManipulationRobotic Manipulation

    Dept. of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkiye. · Dept. of Computer Engineering, Bilkent University, Ankara, Turkiye.

  13. HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies

    Mar 12, 2026Amber Xie, Haozhi Qi, Dorsa SadighRobotic ManipulationBimanual Robotic Manipulation

    Stanford University · Amazon FAR (Frontier AI & Robotics)

  14. Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm

    Mar 11, 2026Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2Deformable Object ManipulationBimanual Robotic Manipulation

    Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, 25 Exhibition Road, London, SW7 2DB, UK

  15. SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly

    Mar 11, 2026Xiao Liu, Prakash Baskaran, Songpo Li +4Robot TeleoperationHuman-Robot Collaboration

    Authors are with Honda Research Institute USA, San Jose, CA 95134 USA. · Authors are with Honda Research Institute Europe GmbH, 63073 Offenbach am Main, Germany.

  16. Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation

    Mar 10, 2026Artemis Shaw, Chen Liu, Justin Costa +5RoboticsMobile Manipulation

  17. FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid

    Mar 9, 2026Niraj Pudasaini, Yutong Zhang, Jensen Lavering +3Bimanual Robotic ManipulationHumanoid Robot Control

    Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556, USA. · Department of Computer Science, University of Colorado Boulder, Boulder, CO 80309, USA.

  18. EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation

    Mar 9, 2026Zhiyuan Zhang, Aditya Mohan, Seungho Han +3Equivariant Policy LearningBimanual Robotic Manipulation

  19. Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA

    Mar 9, 2026Tutian Tang, Xingyu Ji, Wanli Xing +7In-Hand ManipulationContact-Rich Robotic Manipulation

    Shanghai Jiao Tong University · Shanghai AI Lab · Sharpa +3

  20. EnergyAction: Unimanual to Bimanual Composition with Energy-Based Models

    Mar 9, 2026Mingchen Song, Xiang Deng, Jie Wei +3Bimanual Robotic ManipulationPolicy Learning

    Harbin Institute of Technology (Shenzhen) · PengCheng Laboratory · Shenzhen Loop Area Institute

  21. Low-Cost Teleoperation Extension for Mobile Manipulators

    Mar 8, 2026Danil Belov, Artem Erkhov, Yaroslav Savotin +3Robot TeleoperationMobile Robotics

    Research Center for Digital Engineering and Innovation, Moscow, Russia

  22. DAISS: Phase-Aware Imitation Learning for Dual-Arm Robotic Ultrasound-Guided Interventions

    Mar 8, 2026Feng Li, Pei Liu, Shiting Wang +4Bimanual Robotic ManipulationRobot Imitation Learning

    Chair for Computer Aided Medical Procedures(CAMP), Technical University of Munich(TUM), Munich, Germany · Munich Center for Machine Learning (MCML), Munich, Germany · The University of Hong Kong(HKU), Hong Kong, China

  23. HSC-VLA: Hierarchical Scene-Clearing for Robust Bimanual Manipulation in Dense Clutter

    Mar 8, 2026Zhen Liu, Xinyu Ning, Zhe Hu +3Robotic ManipulationBimanual Robotic Manipulation

    Beijing University of Posts and Telecommunications · InspireOmni AI · Tsinghua University

  24. RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation

    Mar 7, 2026Zixuan Chen, Nga Teng Chan, Yiwen Hou +8Bimanual Robotic ManipulationRobotic Manipulation

    Zixuan Chen and Jing Huo are with the School of Computer Science, Nanjing University, China. · Yiwen Hou, Chenrui Tie, Zixuan Liu, Haonan Chen, Junting Chen and Lin Shao are with the School of Computing, National University of Singapore, Singapore. · Nga Teng Chan is with the Department of Computer Science and Engineering, The Hong Kong University of Science and Technology, China. +1

  25. Foundational World Models Accurately Detect Bimanual Manipulator Failures

    Mar 7, 2026Isaac R. Ward, Michelle Ho, Houjun Liu +7Robotic Anomaly DetectionRobotic Manipulation

    Stanford University, Stanford, California, 94305, USA. · Watney Robotics, San Francisco, California, 94110, USA.

  26. Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation

    Mar 6, 2026Christian Dreher, Patrick Dormanns, Andre Meixner +1Bimanual Robotic ManipulationTemporal Reasoning

    Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany

  27. UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data

    Mar 5, 2026Sizhe Yang, Yiman Xie, Zhixuan Liang +4Robotic GraspingBimanual Robotic Manipulation

    Shanghai AI Laboratory · The Chinese University of Hong Kong · Zhejiang University +2

  28. SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse

    Mar 4, 2026Xuanran Zhai, Zekai Huang, Longyan Wu +5Bimanual Robotic ManipulationRobotic Manipulation

    National University of Singapore · Shanghai Innovation Institute · Fudan University +4

  29. Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery

    Mar 3, 2026Xuejin Luo, Shiquan Sun, Runshi Zhang +2Healthcare RoboticsSurgical Robotics

    School of Mechanical Engineering and Automation, Beihang University, Beijing, China

  30. PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation

    Mar 2, 2026Runfa Blark Li, David Kim, Xinshuang Liu +7Bimanual Robotic ManipulationRobotic Tool Use

    University of California, San Diego