Coordi-pi: Coordination-Aware Dual-Hand Action Representation for Bimanual Dexterous Manipulation

Vision-language-action (VLA) models have shown strong potential for general-purpose robotic manipulation, but extending them to bimanual dexterous manipulation introduces a high-dimensional and structured action space. Existing bimanual VLA policies commonly concatenate right- and left-side arm--hand actions at each control timestep, leaving cross-hand interactions implicit within a single action vector.

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