StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception

Abstract:Recent advances in robot imitation learning have produced powerful visuomotor policies that manipulate diverse objects from visual inputs. However, monocular observations lack depth information, which is critical for precise manipulation in cluttered or geometrically complex scenes. Explicit depth maps and point clouds are often noisy and fragile in real-world manipulation. We introduce StereoPolicy, a visuomotor policy learning framework that directly leverages synchronized stereo image pairs to improve spatial perception without constructing explicit 3D representations. StereoPolicy processes each image with pretrained 2D vision encoders and fuses left-right features through a cross-attention-based Stereo Transformer, learning task-conditioned binocular representations. The framework integrates with diffusion-based and pretrained vision-language-action (VLA) policies, delivering consistent improvements over RGB, RGB-D, point cloud, and multi-view baselines across three simulation benchmarks and seven real-robot tabletop and bimanual mobile manipulation tasks. Our results support task-trained binocular fusion as an effective way to adapt 2D visual representations for manipulation.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2605.09989 [cs.RO]

(or arXiv:2605.09989v3 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2605.09989 Focus to learn more arXiv-issued DOI via DataCite

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