See Selectively, Act Adaptively: Dual-Level Structural Decomposition for Bimanual Robot Manipulation

arXiv:2606.13279 · cs.RO · Submitted 2026-06-11 · Read on arXiv

cs.RO

Submitted: 2026-06-11

Updated: 2026-09-20

Terminology

• In Conference on Robot Learning — 9× in this paper
• View-Selective Visual Router — 8× in this paper
• Generalization — 5× in this paper · explained in 13 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Flow Matching — 3× in this paper · explained in 8 episodes
• In International Conference on Learning Representations — 3× in this paper
• Active Vision — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Distribution Shift — 2× in this paper · explained in 6 episodes
• Mixture-of-Experts (MoE) — 2× in this paper · explained in 7 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Actor-Critic Learning — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• CVF International Conference on Computer Vision — 1× in this paper
• Computational overhead — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Interaction-Aware Action Mixture-of-Experts — 1× in this paper
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Verification — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• Selective Perception for Robot: Task-Aware Attention in Multimodal VLA
• SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
• Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation
• TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

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