Bimanual ManipulationIntermediate
EyeRobot 2.0: Active Gaze for Precise Manipulation without Wrist Cameras
This preprint presents EyeRobot 2.0, a bimanual manipulation framework that uses a single fixed stereo camera with active gaze: two eye viewpoints swivel to a 3D fixation point, and the system feeds foveated multi-resolution crops to a behavior-cloning gripper policy. In 7 real and 6 simulated tasks, it lifts real static-stereo success from 27% to about 66.5% (roughly +40 percentage points), matches wrist-camera policies with a 69% vs 64% success rate when wrists are unobstructed, and beats them 48% vs 22% when grasped objects occlude the wrists. This matters because removing wrist cameras can simplify end-effectors and keep vision usable during tool use, clutter, and occlusions.