{"ID":2861248,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.01603","arxiv_id":"2510.01603","title":"MiniBEE: A New Form Factor for Compact Bimanual Dexterity","abstract":"Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity while only exploiting a fraction of the overall workspace for dexterous interaction. We introduce the MiniBEE (Miniature Bimanual End-effector), a compact system in which two reduced-mobility arms (3+ DOF each) are coupled into a kinematic chain that preserves full relative positioning between grippers. To guide our design, we formulate a kinematic dexterity metric that enlarges the dexterous workspace while keeping the mechanism lightweight and wearable. The resulting system supports two complementary modes: (i) wearable kinesthetic data collection with self-tracked gripper poses, and (ii) deployment on a standard robot arm, extending dexterity across its entire workspace. We present kinematic analysis and design optimization methods for maximizing dexterous range, and demonstrate an end-to-end pipeline in which wearable demonstrations train imitation learning policies that perform robust, real-world bimanual manipulation.","short_abstract":"Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity while only exploiting a fraction of the overall workspace for dexterous interactio...","url_abs":"https://arxiv.org/abs/2510.01603","url_pdf":"https://arxiv.org/pdf/2510.01603v3","authors":"[\"Sharfin Islam\",\"Zewen Chen\",\"Zhanpeng He\",\"Swapneel Bhatt\",\"Andres Permuy\",\"Brock Taylor\",\"James Vickery\",\"Zhengbin Lu\",\"Cheng Zhang\",\"Pedro Piacenza\",\"Matei Ciocarlie\"]","published":"2025-10-02T02:37:19Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}