CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.
Speci: Skill prompts based hi- erarchical continual imitation learning for robot manipula- tion.IEEE Transactions on Cognitive and Developmental Systems, 2025
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CUBic: Coordinated Unified Bimanual Perception and Control Framework
CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.