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VLBiMan++: Expanding the Generalization Boundary of Vision-Language Anchored One-Shot Bimanual Manipulation

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Generalizable bimanual robotic manipulation requires a reusable task prior that can persist across increasingly diverse tasks, objects, scenes, embodiments, and execution conditions, thus avoiding the prohibitive cost of large-scale teleoperated demonstrations and policy retraining. In this work, we present VLBiMan++, an extended framework that expands the generalization boundary of vision-language anchored one-shot bimanual manipulation. Starting from a single human demonstration, VLBiMan++ performs task-aware decomposition to identify reusable and adaptable skill components, and employs visi

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