{"id":"https://openalex.org/W7127337288","doi":"https://doi.org/10.48550/arxiv.2602.01939","title":"Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy","display_name":"Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy","publication_year":2026,"publication_date":"2026-02-02","ids":{"openalex":"https://openalex.org/W7127337288","doi":"https://doi.org/10.48550/arxiv.2602.01939"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.01939","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111298035","display_name":"Yuxin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"He, Yuxin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Ruihao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ruihao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046412039","display_name":"Tianao Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Tianao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124963139","display_name":"Cheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Cheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124949318","display_name":"Qiang Nie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nie, Qiang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111298035"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8808000087738037,"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":0.8808000087738037,"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/T10868","display_name":"Soft Robotics and Applications","score":0.02889999933540821,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.008500000461935997,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7361000180244446},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.64410001039505},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.484499990940094},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.4586000144481659},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.45210000872612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4300000071525574},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.3269999921321869}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7429999709129333},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7361000180244446},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.64410001039505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6137999892234802},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4986000061035156},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.484499990940094},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.4586000144481659},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.45210000872612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4300000071525574},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.32350000739097595},{"id":"https://openalex.org/C144559511","wikidata":"https://www.wikidata.org/wiki/Q2986279","display_name":"Principal (computer security)","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28279998898506165},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2802000045776367},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.263700008392334}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.01939","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.01939","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.01939","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.01939","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recently,":[0],"active":[1,127],"vision":[2,128],"has":[3],"reemerged":[4],"as":[5,37],"an":[6,82,166],"important":[7],"concept":[8],"for":[9,43,148],"manipulation,":[10],"since":[11],"visual":[12,30],"occlusion":[13,31],"occurs":[14],"more":[15,54],"frequently":[16],"when":[17],"main":[18],"cameras":[19],"are":[20],"mounted":[21],"on":[22,28,139],"the":[23,29,38,53,91,149,154,159,162,173,178],"robot":[24],"heads.":[25],"We":[26,110,170],"reflect":[27],"issue":[32],"and":[33,59,129],"identify":[34],"its":[35],"essence":[36],"absence":[39],"of":[40,57,96,99,161],"information":[41,70],"useful":[42],"task":[44],"completion.":[45],"Inspired":[46],"by":[47],"this,":[48],"we":[49,89,142,156],"come":[50,112],"up":[51,113],"with":[52,103,114,177],"fundamental":[55],"problem":[56,65],"Exploratory":[58],"Focused":[60],"Manipulation":[61],"(EFM).":[62],"The":[63],"proposed":[64],"is":[66],"about":[67],"actively":[68],"collecting":[69],"to":[71,85,125,132],"complete":[72],"challenging":[73],"manipulation":[74],"tasks":[75,100,107,150],"that":[76,94,101,172,185],"require":[77],"exploration":[78],"or":[79],"focus.":[80],"As":[81],"initial":[83],"attempt":[84],"address":[86],"this":[87,140,190],"problem,":[88],"establish":[90],"EFM-10":[92,174],"benchmark":[93,175],"consists":[95],"4":[97],"categories":[98],"align":[102],"our":[104],"definition":[105],"(10":[106],"in":[108,151,165],"total).":[109],"further":[111],"a":[115,144,183],"Bimanual":[116],"Active":[117],"Perception":[118],"(BAP)":[119],"strategy,":[120],"which":[121],"leverages":[122],"one":[123],"arm":[124,131],"provide":[126,133],"another":[130],"force":[134],"sensing":[135],"while":[136],"manipulating.":[137],"Based":[138],"idea,":[141],"collect":[143],"dataset":[145],"named":[146],"BAPData":[147],"EFM-10.":[152],"With":[153],"dataset,":[155],"successfully":[157],"verify":[158],"effectiveness":[160],"BAP":[163,179],"strategy":[164,180],"imitation":[167],"learning":[168],"manner.":[169],"hope":[171],"along":[176],"can":[181],"become":[182],"cornerstone":[184],"facilitates":[186],"future":[187],"research":[188],"towards":[189],"direction.":[191],"Project":[192],"website:":[193],"EFManipulation.github.io.":[194]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-02-04T00:00:00"}