{"id":"https://openalex.org/W7155413972","doi":"https://doi.org/10.48550/arxiv.2604.20348","title":"Bimanual Robot Manipulation via Multi-Agent In-Context Learning","display_name":"Bimanual Robot Manipulation via Multi-Agent In-Context Learning","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155413972","doi":"https://doi.org/10.48550/arxiv.2604.20348"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.20348","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20348","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.20348","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038628774","display_name":"Alessio Palma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Palma, Alessio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019615617","display_name":"Indro Spinelli","orcid":"https://orcid.org/0000-0003-1963-3548"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Spinelli, Indro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134364476","display_name":"Vignesh Prasad","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Prasad, Vignesh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029661642","display_name":"Luca Scofano","orcid":"https://orcid.org/0000-0002-0392-7464"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Scofano, Luca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134434217","display_name":"Yufeng Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Yufeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chalvatzaki, Georgia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033120247","display_name":"Fabio Galasso","orcid":"https://orcid.org/0000-0003-1875-7813"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Galasso, Fabio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.4083000123500824,"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":0.4083000123500824,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.17550000548362732,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.10100000351667404,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.661899983882904},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6460000276565552},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5983999967575073},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5210000276565552},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5084999799728394},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.48019999265670776},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.436599999666214},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.39500001072883606}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6991000175476074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.661899983882904},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6460000276565552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6420999765396118},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5983999967575073},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5210000276565552},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.39500001072883606},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.3756999969482422},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34769999980926514},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34529998898506165},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.30250000953674316},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2881999909877777},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25619998574256897},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.25529998540878296},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.20348","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20348","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.20348","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20348","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.4673506021499634,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Language":[0],"Models":[1],"(LLMs)":[2],"have":[3],"emerged":[4],"as":[5,41,85],"powerful":[6],"reasoning":[7],"engines":[8],"for":[9],"embodied":[10],"control.":[11],"In":[12],"particular,":[13],"In-Context":[14,65],"Learning":[15],"(ICL)":[16],"enables":[17,71],"off-the-shelf,":[18],"text-only":[19],"LLMs":[20,73],"to":[21,36,74],"predict":[22],"robot":[23],"actions":[24],"without":[25,79,136],"any":[26],"task-specific":[27],"training":[28],"while":[29],"preserving":[30],"their":[31],"generalization":[32],"capabilities.":[33],"Applying":[34],"ICL":[35],"bimanual":[37,77,83],"manipulation":[38,78],"remains":[39],"challenging":[40],"the":[42,67,91,104,114],"high-dimensional":[43],"joint":[44],"action":[45,92],"space":[46,93],"and":[47,122],"tight":[48],"inter-arm":[49],"coordination":[50],"constraints":[51],"rapidly":[52],"overwhelm":[53],"standard":[54,72],"context":[55],"windows.":[56],"To":[57],"address":[58],"this,":[59],"we":[60],"introduce":[61],"BiCICLe":[62,81,107],"(Bimanual":[63],"Coordinated":[64],"Learning),":[66],"first":[68],"framework":[69],"that":[70],"perform":[75],"few-shot":[76],"fine-tuning.":[80],"frames":[82],"control":[84],"a":[86],"multi-agent":[87],"leader-follower":[88],"problem,":[89],"decoupling":[90],"into":[94],"sequential,":[95],"conditioned":[96],"single-arm":[97],"predictions.":[98],"Evaluated":[99],"on":[100,133],"13":[101],"tasks":[102,135],"from":[103],"TWIN":[105],"benchmark,":[106],"achieves":[108],"70.5%":[109],"average":[110],"success":[111],"rate,":[112],"outperforming":[113],"best":[115],"training-free":[116],"baseline":[117],"by":[118],"6.1":[119],"percentage":[120],"points":[121],"surpassing":[123],"most":[124],"supervised":[125],"methods.":[126],"We":[127],"also":[128],"demonstrate":[129],"superior":[130],"real-world":[131],"performance":[132],"3":[134],"hardware-specific":[137],"retraining.":[138]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-24T00:00:00"}