# A Certified-Complete Bimanual Manipulation Planner

arXiv: https://arxiv.org/abs/1705.02573 · HTML: https://mlsanity.com/paper/1705.02573/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 May 2017.

## Built on by (most cited first, 6 of 6)

- [SpeedFolding: Learning Efficient Bimanual Folding of Garments](https://mlsanity.com/paper/2208.10552/) (2022)
- [Stabilize to Act: Learning to Coordinate for Bimanual Manipulation](https://mlsanity.com/paper/2309.01087/) (2023)
- [A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies](https://mlsanity.com/paper/2208.00596/) (2022)
- [Large Language Models for Orchestrating Bimanual Robots](https://mlsanity.com/paper/2404.02018/) (2024)
- [LEMMA: Learning Language-Conditioned Multi-Robot Manipulation](https://mlsanity.com/paper/2308.00937/) (2023)
- [Placeit! A Framework for Learning Robot Object Placement Skills](https://mlsanity.com/paper/2510.09267/) (2025)

## Abstract (arXiv)

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on the support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find a solution to any bimanual manipulation query in that environment whenever one exists. Moreover, the certificate is constructive: at run-time, it can be used to quickly find a solution to a given query. The algorithm is tested in software and hardware on a number of large pieces of furniture.