bimanual-manipulation

A curated list of awesome papers and resources on humanoid manipulation, dexterous manipulation, bimanual dexterous manipulation, in-hand manipulation, and humanlike manipulation.

[TPAMI2026 / RSS2025] Code for my paper "You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations"

🌴[CVPR 2024] OakInk2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion

Code for the paper: "Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation"

Musculoskeletal models released from musclemimic research: fullbody musculoskeletal model

[CVPR 2025] Tra-MoE: Learning Trajectory Prediction Model from Multiple Domains for Adaptive Policy Conditioning

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation (CoRL 2024)

The EBiM Benchmark — task environments, simulation setups, and starter kits for embodied bimanual manipulation.

[CVPR 2024] OakInk2 baseline model: Task-aware Motion Fulfillment (TaMF) via Diffusion

Official implementation for the LABOR (LAnguage-model-based Bimanual ORchestration) Agent.

A reproducible benchmark for bimanual manipulation in simulation and the real world.

Official implementation of LLM+MAP: Bimanual Robot Task Planning using Large Language Models (LLMs) and Planning Domain Definition Language (PDDL). Codes and files are coming soon.

[ICLR 2026] TwinVLA : Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models

Curated papers, datasets, policies, and taxonomy for the Universal Manipulation Interface (UMI) ecosystem

[AAAI 2026 Oral] Official implementation of "Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations". https://github.com/zhoubohan0/BiDex2 Arctic added in v2.0

An end-to-end RECAP pipeline on YAM bimanual arms.

ULOHA: An Underwater Bimanual Robot System for Robot Learning

This is a repository for organizing papers, codes and other resources related to learning-based bimanual and dual-arm manipulation.

Dexora: Open-source VLA for High-DoF Bimanual Dexterity (ICRA 2026). Dual-arm, dual-hand, 36-DoF diffusion-transformer policy with discriminator-guided data-quality-aware post-training.

Official code for Tactile Hide and Seek: tactile-only bimanual object search and retrieval.