# RoboSTD: A Bimanual Learning Method for Zero-Shot Single-to-Dual Transfer via Sagittal Mirroring

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qqnb1aieach6ibfmnwp6m6fzs
- Original: https://arxiv.org/abs/2610.36685

## Summary

RoboSTD is a zero-shot single-to-dual data construction method for bimanual robot learning. It applies sagittal-plane mirroring to observations, proprioception, and actions to generate executable contralateral pseudo-demonstrations, then uses an LLM to generate structured spatio-temporal coordination constraints that guide the reconstruction of pseudo-bimanual supervision across workspace regions and task stages. The study evaluates RoboSTD on the AgileX ALOHA platform in RoboTwin simulation and real-world settings. Without additional bimanual demonstrations, it achieves an average of 2.11 times the number of cups collected by the single-arm baseline in the cup-collection task.