mlsanityData to 7 Oct 2026

PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Tasks

arXiv 2407.00278 ↗First posted 29 Jun 2024cs.RO cs.AI cs.CVcited by 37

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Abstract (arXiv)

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for systematically studying bimanual capabilities across a wide range of tabletop tasks. This paper addresses the gap by extending RLBench to bimanual manipulation. We open-source our code and benchmark comprising 13 new tasks with 23 unique task variations, each requiring a high degree of coordination and adaptability. To kickstart the benchmark, we extended several state-of-the art methods to bimanual manipulation and also present a language-conditioned behavioral cloning agent -- PerAct2, which enables the learning and execution of bimanual 6-DoF manipulation tasks. Our novel network architecture efficiently integrates language processing with action prediction, allowing robots to understand and perform complex bimanual tasks in response to user-specified goals. Project website with code is available at: http://bimanual.github.io

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). Builds on 14 of its 32 references that are in the map. First posted on arXiv 29 Jun 2024.

Builds on

14 of 32 references.

References · 14

  1. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  2. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  3. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
  4. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  5. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  6. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  7. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  8. 2023RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learningcited by 29
  9. 2021Long-Horizon Multi-Robot Rearrangement Planning for Construction Assemblycited by 24
  10. 2022Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objectscited by 24
  11. 2022RB2: Robotic Manipulation Benchmarking with a Twistcited by 23
  12. 2022A Memory System of a Robot Cognitive Architecture and its Implementation in ArmarXcited by 11
2 more
  1. 2022Coarse-to-fine Q-attention with Tree Expansioncited by 9
  2. 2022Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robotscited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 23; 2026: 11.

37 papers.

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  1. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 203
  2. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 66
  3. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 64
  4. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  5. 2024G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulationcited by 35
  6. 2025VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Modelscited by 34
  7. 2025RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluationcited by 29
  8. 2024VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulationcited by 21
  9. 2024AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulationcited by 15
  10. 2025Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioningcited by 14
  11. 2025Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Frameworkcited by 11
  12. 2025GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulationcited by 11
25 more
  1. 2025PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policiescited by 11
  2. 2025ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Modelcited by 10
  3. 2025TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Modelscited by 10
  4. 2025EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Taskscited by 9
  5. 2025SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulationcited by 9
  6. 2026Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policiescited by 8
  7. 2025D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentationcited by 4
  8. 2025Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Predictioncited by 2
  9. 2026R3DP: Real-Time 3D-Aware Policy for Embodied Manipulationcited by 2
  10. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Handscited by 2
  11. 2025SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Graspingcited by 1
  12. 2025ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentationcited by 1
  13. 2025Large Pre-Trained Models for Bimanual Manipulation in 3Dcited by 1
  14. 2025Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policycited by 1
  15. 2025Embodiment Transfer Learning for Vision-Language-Action Modelscited by 1
  16. 2026CUBic: Coordinated Unified Bimanual Perception and Control Frameworkcited by 1
  17. 2026See Selectively, Act Adaptively: Dual-Level Structural Decomposition for Bimanual Robot Manipulationcited by 1
  18. 20263D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learningcited by 1
  19. 2025TetraGrip: Sensor-Driven Multi-Suction Reactive Object Manipulation in Cluttered Scenescited by 0
  20. 2025EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulationcited by 0
  21. 2026CoFreeVLA: Short-Horizon Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimationcited by 0
  22. 2026Bimanual Robot Manipulation via Multi-Agent In-Context Learningcited by 0
  23. 2026One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environmentscited by 0
  24. 2026Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligencecited by 0
  25. 2026CoHuB: A Simulation Benchmark for Multi-Humanoid Collaborationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World
  2. 2024BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation
  3. 2020Deep Imitation Learning for Bimanual Robotic Manipulation
  4. 2025Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers
  5. 2026FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation
  6. 2025Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation ↗
  7. 2026Scaling Bimanual Household Manipulation from 1,500 hours of Demonstrations to On-Policy Corrections
  8. 2023Stabilize to Act: Learning to Coordinate for Bimanual Manipulation