CUBic: Coordinated Unified Bimanual Perception and Control Framework

• URL: http://arxiv.org/abs/2605.13452v1
• Date: Wed, 13 May 2026 12:48:23 GMT
• Title: CUBic: Coordinated Unified Bimanual Perception and Control Framework
• Abstract summary: We propose CUBic, a framework for bimanual perception and control.<n> CUBic learns a shared tokenized representation bridging perception and control.<n>Experiments on the RoboTwin benchmark show that CUBic consistently surpasses standard baselines.
• Score: 43.057203848664074
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both independent perception and coordinated interaction between arms. Existing methods typically favor one side -- either decoupling the two arms to avoid interference or enforcing strong cross-arm coupling for coordination -- thus lacking a unified treatment. We propose CUBic, a Coordinated and Unified framework for Bimanual perception and control that reformulates bimanual coordination as a unified perceptual modeling problem. CUBic learns a shared tokenized representation bridging perception and control, where independence and coordination emerge intrinsically from structure rather than from hand-crafted coupling. Our approach integrates three components: unidirectional perception aggregation, bidirectional perception coordination through two codebooks with shared mapping, and a unified perception-to-control diffusion policy. Extensive experiments on the RoboTwin benchmark show that CUBic consistently surpasses standard baselines, achieving marked improvements in coordination accuracy and task success rates over state-of-the-art visuomotor baselines.

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