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RoboCousin: Build Your Own Simulation Playground for Robust Bimanual Robotic Manipulation

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Bimanual manipulation policies require large and diverse training datasets, yet collecting demonstrations on physical robots is expensive and difficult to scale. Simulation can generate data efficiently, but existing pipelines typically operate within closed asset libraries and predefined scenes: adding a newly observed object or environment still requires substantial effort to reconstruct geometry, specify physical and semantic properties, annotate interactions, and integrate the result into executable tasks. We present RoboCousin, an extensible simulation-based data-generation platform that

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