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

• URL: http://arxiv.org/abs/2604.05831v1
• Date: Tue, 07 Apr 2026 13:02:17 GMT
• Title: BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination
• Abstract summary: BiCoord is a benchmark for long-horizon and tightly coordinated bimanual manipulation.<n>Specifically, BiCoord comprises diverse tasks that require continuous inter-arm dependency and dynamic role exchange.<n>Results show that representative manipulation policies struggle with long-duration and highly coupled tasks.
• Score: 20.953323366922266
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven learning for bimanual manipulation. However, existing tasks are short-horizon and only loosely coordinated, failing to capture the spatial-temporal coupling inherent in real-world bimanual behaviors. To address this gap, we introduce BiCoord, a benchmark for long-horizon and tightly coordinated bimanual manipulation. Specifically, BiCoord comprises diverse tasks that require continuous inter-arm dependency and dynamic role exchange across multiple sub-goals. Also, we propose a suite of quantitative metrics that evaluate coordination from temporal, spatial, and spatial-temporal perspectives, enabling systematic measurement of bimanual cooperation. Experimental results show that representative manipulation policies, e.g., DP, RDT, Pi0, and OpenVLA-OFT, struggle with long-duration and highly coupled tasks, revealing fundamental challenges in achieving long-horizon and tight coordination tasks. We hope BiCoord can serve as a foundation for studying long-horizon cooperative manipulation and inspire future research on coordination-aware robotic learning. All datasets, codes and supplements could be found at https://buaa-colalab.github.io/BiCoord/.

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