robotics
Two Robot Arms Predicted the Scene Together
Jointly denoising actions and future 3D tracks improved bimanual manipulation.
Summary
Jointly denoising actions and future 3D tracks improved bimanual manipulation.
JAMB generates two-arm actions and future three-dimensional point tracks together, letting each evolving hypothesis refine the other. Across 16 simulated tasks, the authors report 83.4% average success, 23.9 percentage points above the strongest evaluated baseline. On three real-world tasks, it beat action-only and auxiliary-geometry methods by 50.0 and 21.2 points. The gains come from the reported task suite and do not establish general dexterity.
Why it matters
Jointly denoising actions and future 3D tracks improved bimanual manipulation.
Limits and context
- On three real-world tasks, it beat action-only and auxiliary-geometry methods by 50.0 and 21.2 points.
- The gains come from the reported task suite and do not establish general dexterity.
Key claims
Jointly denoising actions and future 3D tracks improved bimanual manipulation.
Qualification: On three real-world tasks, it beat action-only and auxiliary-geometry methods by 50.0 and 21.2 points.
Evidence: source-2026-09-23-011
Sources
- arXiv preprint 2609.25322arXiv · primary research
Corrections
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