{"id":"https://openalex.org/W4416749037","doi":"https://doi.org/10.1109/iros60139.2025.11246564","title":"ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model","display_name":"ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749037","doi":"https://doi.org/10.1109/iros60139.2025.11246564"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078805296","display_name":"Tengbo Yu","orcid":"https://orcid.org/0000-0002-4270-7317"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengbo Yu","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006203231","display_name":"Guanxing Lu","orcid":"https://orcid.org/0000-0002-6869-7647"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanxing Lu","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020753167","display_name":"Zaijia Yang","orcid":"https://orcid.org/0000-0001-7125-302X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zaijia Yang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102481595","display_name":"Haoyuan Deng","orcid":"https://orcid.org/0009-0002-5975-0394"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyuan Deng","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055226898","display_name":"Season S. Chen","orcid":"https://orcid.org/0000-0002-0323-7447"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Season Si Chen","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103740674","display_name":"Jiwen Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwen Lu","raw_affiliation_strings":["Tsinghua University,Department of Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108575750","display_name":"Wenbo Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Ding","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025777969","display_name":"Guoqiang Hu","orcid":"https://orcid.org/0000-0001-9333-1498"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoqiang Hu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101926295","display_name":"Yansong Tang","orcid":"https://orcid.org/0000-0002-8768-8498"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yansong Tang","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107901603","display_name":"Ziwei Wang","orcid":"https://orcid.org/0009-0003-8050-9121"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12232","last_page":"12239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7735000252723694,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7735000252723694,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.043699998408555984,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.02250000089406967,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6654999852180481},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6090999841690063},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.45820000767707825},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.40779998898506165},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4002000093460083},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.39800000190734863}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.791100025177002},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6654999852180481},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6335999965667725},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6090999841690063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5123999714851379},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.40779998898506165},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4002000093460083},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.39800000190734863},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3763999938964844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37389999628067017},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.27129998803138733}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2970606861","https://openalex.org/W3007769740","https://openalex.org/W3205321526","https://openalex.org/W4200150166","https://openalex.org/W4252189904","https://openalex.org/W4328007461","https://openalex.org/W4380451266","https://openalex.org/W4385318467","https://openalex.org/W4385430451","https://openalex.org/W4385430674","https://openalex.org/W4398249471","https://openalex.org/W4401414765","https://openalex.org/W4402354093","https://openalex.org/W4402952516","https://openalex.org/W4403771534","https://openalex.org/W4404722496","https://openalex.org/W4406613045","https://openalex.org/W4413925993","https://openalex.org/W4413947056"],"related_works":[],"abstract_inverted_index":{"Multi-task":[0],"robotic":[1],"bimanual":[2,23,82,187],"manipulation":[3,83,188],"is":[4,138,213],"becoming":[5],"increasingly":[6],"popular":[7],"as":[8],"it":[9],"enables":[10],"sophisticated":[11],"tasks":[12,24],"that":[13,79],"require":[14],"diverse":[15],"dual-arm":[16,62],"collaboration":[17],"patterns.":[18],"Compared":[19],"to":[20,27,110],"unimanual":[21],"manipulation,":[22],"pose":[25],"challenges":[26],"understanding":[28],"the":[29,40,44,56,130,134,158,163,166,171,174,184],"multi-body":[30,86,117,135],"spatiotemporal":[31,41,118,136],"dynamics.":[32],"An":[33],"existing":[34],"method":[35,181],"ManiGaussian":[36,77],"[30]":[37],"pioneers":[38],"encoding":[39],"dynamics":[42,88,119,137],"into":[43],"visual":[45,106,142],"representation":[46,143],"via":[47,144],"Gaussian":[48,92,102,126,151],"world":[49,93,127],"model":[50,128],"for":[51,61,116,140],"single-arm":[52],"settings,":[53],"which":[54,108,162],"ignores":[55],"interaction":[57],"of":[58,76,157,173,193],"multiple":[59],"embodiments":[60],"systems":[63],"with":[64,129],"significant":[65],"performance":[66],"drop.":[67],"In":[68],"this":[69],"paper,":[70],"we":[71,98],"propose":[72],"ManiGaussian++,":[73],"an":[74,191],"extension":[75],"framework":[78],"improves":[80],"multi-task":[81],"by":[84,155,190],"digesting":[85],"scene":[87,146],"through":[89,161],"a":[90,124,178],"hierarchical":[91,125],"model.":[94],"To":[95],"be":[96],"specific,":[97],"first":[99],"generate":[100],"task-oriented":[101],"Splatting":[103,152],"from":[104,170],"intermediate":[105,141],"features,":[107],"aims":[109],"differentiate":[111],"acting":[112,175],"and":[113,199],"stabilizing":[114,159],"arms":[115],"modeling.":[120],"We":[121],"then":[122],"build":[123],"leader-follower":[131],"architecture,":[132],"where":[133],"mined":[139],"future":[145],"prediction.":[147],"The":[148],"leader":[149],"predicts":[150],"deformation":[153],"caused":[154],"motions":[156],"arm,":[160],"follower":[164],"generates":[165],"physical":[167],"consequences":[168],"resulted":[169],"movement":[172],"arm.":[176],"As":[177],"result,":[179],"our":[180],"significantly":[182],"outperforms":[183],"current":[185],"state-of-the-art":[186],"techniques":[189],"improvement":[192],"20.2%":[194],"in":[195,206],"10":[196],"simulated":[197],"tasks,":[198],"achieves":[200],"60%":[201],"success":[202],"rate":[203],"on":[204],"average":[205],"9":[207],"challenging":[208],"real-world":[209],"tasks.":[210],"Our":[211],"code":[212],"available":[214],"at":[215],"https://github.com/April-Yz/ManiGaussian_Bimanual.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
