Bimanual robots stop asking an LLM to schedule alone: BiPOP hands coordination to a temporal planner and clears 95% success on all three simulated task domains
The bottleneck in long-horizon bimanual manipulation is not only per-hand skill but coordination of the two arms in space and time. BiPOP partitions the workspace by arm reachability, has a large language model write the natural-language instruction and scene information into a PDDL problem, and lets a temporal planner produce a partial-order plan with concurrent scheduling. On 100 randomized instances each of ServeFruit, ServeWater and StackBlock, BiPOP reaches success rates of 100%, 100% and 95%, the only method at or above 95% in every domain, and the full pipeline completes ServeWater end to end on the real bimanual robot NICOL.