D-CODA augments dual-arm eye-in-hand demonstrations with diffusion-synthesized viewpoint-consistent images and constraint-checked action labels, improving policy success rates on most tested simulated and real-world bimanual tasks.
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D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
D-CODA augments dual-arm eye-in-hand demonstrations with diffusion-synthesized viewpoint-consistent images and constraint-checked action labels, improving policy success rates on most tested simulated and real-world bimanual tasks.