MV-Actor: Aligning Multi-View Semantics and Spatial Awareness for Bimanual Manipulation

Abstract:Robotic manipulation has been widely applied in industrial scenarios. Compared with single-arm manipulation, bimanual manipulation is equipped with multiple cameras to capture information from different viewpoints. However, existing multi-view policies encode each view independently or fuse view features shallowly, resulting in limited sharing semantic perception and unreliable spatial awareness. In this paper, we propose \textbf{MV-Actor}, a multi-view perception framework that builds a unified semantic-spatial representation for bimanual manipulation. First, MV-Actor performs Multi-view Semantic Interaction to share semantic perception across views. Then it uses Semantic-Spatial Token Interaction to ground visual semantics with feed-forward reconstruction model features and acquire reliable spatial awareness. Finally, a Guided Metric Depth Repair module refines degraded sensor depth to provide more reliable metric anchors under consumer-grade depth noise. In simulation experiments conducted on the PerAct2 bimanual benchmark, MV-Actor achieves a state-of-the-art average success rate of 87.8\%. In real-world evaluations with more frequent viewpoint changes and unstable consumer-grade depth, MV-Actor outperforms both RGB and RGB-D baselines, further demonstrating the benefit of sharing semantic perception and reliable spatial awareness for bimanual manipulation.

Robotics (cs.RO)

arXiv:2606.10899 [cs.RO]

(or arXiv:2606.10899v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.10899 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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