One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments

תקציר מקורי באנגליתarXiv:2607.22119v1 Announce Type: cross Abstract: Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames. However, existing approaches typically assume these frames to be strictly exogenous. This causal assumption collapses in dynamic settings, such as when a single robot arm manipulates a moving object or when two arms coordinate, where each arm effectively becomes part of the dynamic environment of the other. We propose DynaMAC, a lightweight, policy-agnostic framework that resolves this causal limitation while preserving the sample efficiency, computational speed, and flexibility of multi-stream policies, DynaMAC treats the opposite arm as a dynamic task parameter, thereby providin