Reproduce “RoboSTD: Zero-Shot Single-to-Dual Transfer via Sagittal Mirroring for Bimanual Learning” on OpenResearch
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About this paper
Hongyu Wu, Chong Liu, Shaoxuan Xie, Shaqi Luo, Hanyu Feng, Shihan Wu, Guocai Yao
RoboSTD converts existing single-arm demonstrations into pseudo-bimanual training examples. It mirrors observations, robot states, and actions across the sagittal plane, then assigns arm roles and orders skills with spatial and temporal constraints. On real-world Cup Collection, it averages 4.22 cups collected versus 2.00 for single-arm supervision; this measures cup count on tested tasks, not success rate.
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