[Submitted on 9 Mar 2026 (v1), last revised 21 Jul 2026 (this version, v3)]

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Abstract:Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic systems, often resulting in asymmetric or inconsistent behaviors under symmetric observations. This limitation is particularly pronounced in dual-arm manipulation, where bilateral symmetry is inherent to both the robot morphology and the structure of many tasks. In this paper, we introduce EquiBim, a symmetry-equivariant policy learning framework for bimanual manipulation that enforces bilateral equivariance between observations and actions during training. Our approach formulates physical symmetry as a group action on both observation and action spaces, and imposes an equivariance constraint on policy predictions under symmetric transformations. The framework is model-agnostic and can be seamlessly integrated into a wide range of imitation learning pipelines with diverse observation modalities and action representations, including point cloud-based and image-based policies, as well as both end-effector-space and joint-space parameterizations. We evaluate EquiBim on RoboTwin, a dual-arm robotic platform with symmetric kinematics, and evaluate it across diverse observation and action configurations in simulation. We further validate the approach on a real-world dual-arm system. Across both simulation and physical experiments, our method consistently improves performance and robustness under distribution shifts. These results suggest that explicitly enforcing physical symmetry provides a simple yet effective inductive bias for bimanual robot learning.

Submission history

From: Zhiyuan Zhang [view email]
[v1] Mon, 9 Mar 2026 16:09:18 UTC (4,243 KB)
[v2] Tue, 24 Mar 2026 03:21:32 UTC (4,243 KB)
[v3] Tue, 21 Jul 2026 01:28:23 UTC (4,243 KB)