# Which Hand Was Late? Diagnosis for Robot Failure Recovery in Bimanual Tool Use

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/z5os18my5isdds2sbv8k4rn8b
- Original: https://arxiv.org/abs/2610.37533

## Summary

The study measures, on a simulated bimanual tool-use task, which failure causes each sensing channel lets a diagnoser identify: a tool slipping out of its socket can be read on the tool-hand side; which hand was late requires information from both arms, while a sensor on one hand can only read that hand's own delay and part of the other hand's delay; and when the tool hand is late, passive sensing cannot determine whether the push force was also insufficient.