RoboSTD: Zero-Shot Single-to-Dual Transfer via Sagittal Mirroring for Bimanual Learning

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Bimanual robot manipulation plays an important role in real-world robotic applications, but the high cost of collecting bimanual demonstrations limits the scalable development of bimanual policy learning. Meanwhile, existing single-arm manipulation data are difficult to directly transfer to bimanual systems due to the Single-to-Dual gap in action spaces, coordination requirements, and arm-side spatial preference. To address this issue, we propose RoboSTD, a zero-shot Single-to-Dual data construction method for bimanual robot learning. RoboSTD first applies sagittal-plane mirroring to observations, proprioception, and actions to construct executable contralateral pseudo-demonstrations. It then uses an LLM to generate structured spatio-temporal coordination constraints that guide the reconstruction of pseudo-bimanual supervision across workspace regions and task stages. We evaluate RoboSTD on the AgileX ALOHA platform in both RoboTwin simulation and real-world settings. Experiments demonstrate the effectiveness of RoboSTD for bimanual policy learning. Without requiring additional bimanual demonstrations, RoboSTD increases the average number of collected cups to 2.11x that of the single-arm baseline in the cup collection task. Project page: https://huahungy.github.io/RoboSTD/

Links and sources

• Official / arXiv page
• PDF from original source

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