# Learning Functional Specialization for Dual-Arm Robot Control

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/thwy3gzjevfexco1kbm072n7j
- Original: https://arxiv.org/abs/2610.33947

## Summary

The study compares, in a simulated musculoskeletal system with dual communication-loop controllers, the effects of differentiated versus shared controller objectives and fixed versus balanced hand-task assignments on dual-arm control using a 2×2 design. Functional specialization was strongest when differentiated objectives were combined with a fixed assignment consistent with contralateral control routing, achieving a dual-arm success rate of 81.33% and the highest control efficiency. This advantage widened as motor noise increased and narrowed under stronger energy penalties. Under differentiated-fixed training, swapping the roles of the two hands reduced the success rate by 80.46 percentage points, whereas under shared-balanced training it fell by only 1.51 percentage points.