Pith Number

pith:HL2AJVZV

pith:2026:HL2AJVZVG6OORA63STT5TZ5UEN

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StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception

Evans Han, Haoyue Xiao, Huang Huang, Jiajun Wu, Jianwen Xie, Li Fei-Fei, Ruohan Zhang, Yingke Wang, Yunfan Jiang

StereoPolicy processes synchronized stereo image pairs with 2D encoders and a fusion transformer to improve robotic manipulation policies without explicit 3D reconstruction.

arxiv:2605.09989 v2 · 2026-05-11 · cs.RO · cs.CV

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Claims

C1strongest claim

StereoPolicy delivers consistent improvements over RGB, RGB-D, point cloud, and multi-view baselines across three simulation benchmarks (RoboMimic, RoboCasa, OmniGibson) and is validated on real-robot tabletop and bimanual mobile manipulation tasks.

C2weakest assumption

That processing each stereo image independently with pretrained 2D encoders and fusing via a Stereo Transformer is sufficient to implicitly capture spatial correspondence and disparity cues without explicit 3D reconstruction or camera calibration.

C3one line summary

StereoPolicy fuses stereo image pairs via a Stereo Transformer on pretrained 2D encoders to boost robotic manipulation policies, showing gains over monocular, RGB-D, point cloud, and multi-view methods in simulations and real-robot tests.

Receipt and verification

First computed	2026-06-05T00:13:46.928048Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3af404d735379ce883db94e7d9e7b42377d1d1ac629ee2781ed8937fc82437ce

Aliases

arxiv: 2605.09989 · arxiv_version: 2605.09989v2 · doi: 10.48550/arxiv.2605.09989 · pith_short_12: HL2AJVZVG6OO · pith_short_16: HL2AJVZVG6OORA63 · pith_short_8: HL2AJVZV

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/HL2AJVZVG6OORA63STT5TZ5UEN \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 3af404d735379ce883db94e7d9e7b42377d1d1ac629ee2781ed8937fc82437ce

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c60fb6f557a94350ec4b26b7ef8e9910b19e778df40055bdb126efb04363960a",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-11T05:06:12Z",
    "title_canon_sha256": "67f9e5b3eb95d7e01569922077eb53cfa87efbc6b9f444eec2efd75d0abc716a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.09989",
    "kind": "arxiv",
    "version": 2
  }
}