{"id":"https://openalex.org/W7166558012","doi":"https://doi.org/10.48550/arxiv.2606.28192","title":"PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation","display_name":"PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation","publication_year":2026,"publication_date":"2026-06-26","ids":{"openalex":"https://openalex.org/W7166558012","doi":"https://doi.org/10.48550/arxiv.2606.28192"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.28192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.28192","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.2606.28192","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139552374","display_name":"Bai Qicheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qicheng, Bai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101096357","display_name":"Wang Ziru","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ziru, Wang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139562769","display_name":"Ma Teli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Teli, Ma","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139631841","display_name":"Dai Guang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang, Dai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032022678","display_name":"\u738b\u656c\u4e1c Wang Jingdong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingdong, Wang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139608795","display_name":"Wang Mengmeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mengmeng, Wang","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":0.9472000002861023,"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":0.9472000002861023,"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":0.004699999932199717,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.0044999998062849045,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/flexibility","display_name":"Flexibility (engineering)","score":0.667900025844574},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.617900013923645},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5683000087738037},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5645999908447266},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4763000011444092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3100999891757965},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.29190000891685486}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6730999946594238},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.667900025844574},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.617900013923645},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5683000087738037},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5645999908447266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5503000020980835},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4763000011444092},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3910999894142151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2948000133037567},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27799999713897705},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.28192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.28192","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.2606.28192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.28192","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":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.6109380125999451}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Bimanual":[0],"manipulation":[1,53],"is":[2],"essential":[3],"for":[4,30],"advanced":[5],"robotic":[6,82],"systems":[7],"because":[8],"it":[9,171],"offers":[10],"higher":[11],"efficiency":[12],"and":[13,60,66,86,115,119,159,183,197],"flexibility":[14],"compared":[15],"to":[16,143,147],"single-arm":[17],"configurations.":[18],"However,":[19],"existing":[20],"approaches":[21],"either":[22],"lack":[23],"inter-arm":[24,156],"interaction":[25],"or":[26],"ignore":[27],"the":[28,37,61,106,110,120,124,130],"need":[29],"a":[31,69,102,138],"dynamic":[32,76,139],"division":[33],"of":[34],"labor,":[35],"treating":[36],"arms":[38,83,88,149],"as":[39],"functionally":[40],"equivalent.":[41],"To":[42],"address":[43],"these":[44],"limitations,":[45],"this":[46],"paper":[47],"draws":[48],"inspiration":[49],"from":[50],"human":[51],"bimanual":[52,72,200],"where":[54],"one":[55],"arm":[56,78],"handles":[57],"core":[58],"operations":[59],"other":[62],"provides":[63],"auxiliary":[64,87,121,125],"support,":[65],"proposes":[67],"PA-BiCoop,":[68],"new":[70],"single-model":[71],"cooperation":[73],"framework":[74],"with":[75,89],"primary-auxiliary":[77],"differentiation.":[79],"PA-BiCoop":[80,167],"categorizes":[81],"into":[84],"primary":[85,107,111,131],"adaptively":[90],"adjustable":[91],"roles":[92,146],"across":[93],"task":[94],"stages,":[95],"employs":[96],"two":[97],"specialized":[98],"decoders":[99],"that":[100,165],"share":[101],"global":[103],"feature":[104],"encoder:":[105],"decoder":[108,122],"generates":[109],"arm's":[112,126,132],"base-coordinate":[113],"pose":[114,128],"core-task":[116],"affordance":[117],"heatmaps,":[118],"outputs":[123],"relative":[127],"in":[129,179,189,199],"coordinate":[133],"system.":[134],"Moreover,":[135],"we":[136],"design":[137,154],"role":[140],"assignment":[141],"module":[142],"automatically":[144],"map":[145],"left/right":[148],"without":[150],"manual":[151],"pre-definition.":[152],"This":[153],"facilitates":[155],"knowledge":[157],"sharing":[158],"coordinated":[160],"manipulation.":[161,201],"Extensive":[162],"experiments":[163],"demonstrate":[164],"our":[166],"achieves":[168],"superior":[169],"performance:":[170],"outperforms":[172],"state-of-the-art":[173],"baselines":[174],"by":[175,184],"48%":[176],"on":[177,187],"average":[178,188],"RLBench2":[180],"simulation":[181],"tasks":[182],"over":[185],"50%":[186],"real":[190],"world":[191],"tasks,":[192],"thereby":[193],"verifying":[194],"its":[195],"effectiveness":[196],"advancement":[198]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-30T00:00:00"}