CUBic：协调统一的双臂感知与控制框架
CUBic: Coordinated Unified Bimanual Perception and Control Framework
把双臂协调建模为共享 token 化表征问题，用两个共享映射的码本实现双向感知协调，再接扩散策略输出动作；对做视觉运动策略的人，这是一套可复用的「感知表征统一 + 扩散动作头」范式，可直接迁移到其他多智能体或多末端操作设定。
原文依据 CUBic learns a shared tokenized representation bridging perception and control
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论近期视觉运动策略学习的进展使机器人能够直接从视觉输入执行控制。然而，将这种端到端学习从单臂扩展到双臂操作仍然具有挑战性，因为既需要独立感知，又需要双臂之间的协调交互。现有方法通常偏向一侧——要么解耦双臂以避免相互干扰，要么强制强跨臂耦合以实现协调——因而缺乏统一的处理方式。我们提出 CUBic，一个用于双臂感知与控制的协调统一框架，它将双臂协调重新表述为一个统一的感知建模问题。CUBic 学习一种共享的 token 化表征，桥接感知与控制，其中独立性与协调性从结构本身自然涌现，而非来自手工设计的耦合。我们的方法集成了三个组件：单向感知聚合、通过两个共享映射的码本实现的双向感知协调，以及统一的感知到控制扩散策略。在 RoboTwin 基准上的大量实验表明，CUBic 持续超越标准基线，在协调精度和任务成功率上相较最优视觉运动基线取得显著提升。
英文原文摘要 1300 字符
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both independent perception and coordinated interaction between arms. Existing methods typically favor one side--either decoupling the two arms to avoid interference or enforcing strong cross-arm coupling for coordination--thus lacking a unified treatment. We propose CUBic, a Coordinated and Unified framework for Bimanual perception and control that reformulates bimanual coordination as a unified perceptual modeling problem. CUBic learns a shared tokenized representation bridging perception and control, where independence and coordination emerge intrinsically from structure rather than from hand-crafted coupling. Our approach integrates three components: unidirectional perception aggregation, bidirectional perception coordination through two codebooks with shared mapping, and a unified perception-to-control diffusion policy. Extensive experiments on the RoboTwin benchmark show that CUBic consistently surpasses standard baselines, achieving marked improvements in coordination accuracy and task success rates over state-of-the-art visuomotor baselines.