Lu_AnyBimanual_Transferring_Unimanual_Policy_for_General_Bimanual_Manipulation@ICCV2025@CVF

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#1 AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation [PDF] [Copy] [Kimi] [REL]

Authors: Guanxing Lu, Tengbo Yu, Haoyuan Deng, Season Si Chen, Yansong Tang, Ziwei Wang

General-purpose bimanual manipulation is challenging due to high-dimensional action spaces and expensive data collection. In contrast, unimanual policy has recently demonstrated impressive generalizability across a wide range of tasks because of scaled model parameters and training data, which can provide sharable manipulation knowledge for bimanual systems. We propose a plug-and-play method named AnyBimanual, which transfers pretrained unimanual policy to general bimanual manipulation policy with few bimanual demonstrations. Specifically, we first introduce a skill manager to dynamically schedule the skill representations discovered from pretrained unimanual policy for bimanual manipulation tasks, which linearly combines skill primitives with task-oriented compensation to represent the bimanual manipulation instruction. To mitigate the observation discrepancy between unimanual and bimanual systems, we present a visual aligner to generate soft masks for visual embedding, which aims to align visual input of unimanual policy model for each arm with those during pretraining stage. AnyBimanual shows superiority on 12 simulated tasks from RLBench2 with a sizable 17.33% improvement in success rate over previous methods. Experiments on 9 real-world tasks further verify its practicality with an average success rate of 84.62%.

Subject: ICCV.2025 - Poster