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        content="Miniature Bimanual End Effector, new form factor for coordinated dexterity.">
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          <h1 class="title is-1 publication-title">MiniBEE: A New Form Factor for Compact Bimanual Dexterity</h1>
          <div class="is-size-5 publication-authors">
            <span class="author-block">
              <a href="https://sharfin99.github.io/portfolio/">Sharfin Islam*</a><sup>1</sup>,</span>
            <span class="author-block">
              <a href="https://www.linkedin.com/in/anthonychenzc/">Zewen Chen*</a><sup>1</sup>,</span>
            <span class="author-block">
              <a href="https://zhanpenghe.github.io/">Zhanpeng He*</a><sup>2</sup>,
            </span>
            <span class="author-block">
              <a >Swapneel Bhatt</a><sup>1</sup>,
            </span>
            <span class="author-block">
              <a>Andres Permuy</a><sup>1</sup>,
            </span>
            <span class="author-block">
              <a>Brock Taylor</a><sup>1</sup>,
            </span>
            <span class="author-block">
              <a>James Vickery</a><sup>1</sup>
            </span>
            <span class="author-block">
              <a>Pedro Piacenza</a><sup>1</sup>
            </span>
            <span class="author-block">
              <a>Cheng Zhang</a><sup>2</sup>
            </span>
            <span class="author-block">
              <a href="https://www.me.columbia.edu/faculty/matei-ciocarlie">Matei Ciocarlie</a><sup>1</sup>
            </span>
          </div>

          <div class="is-size-5 publication-authors">
            <span class="author-block"><sup>1</sup>Mechanical Engineering</span>
            <span class="author-block"><sup>2</sup>Computer Science -- Columbia University</span>
          </div>

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                  <span>Paper</span>
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                <a href="https://arxiv.org/abs/2510.01603"
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                  <span>arXiv</span>
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</section>

<section class="hero teaser">
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      <video id="teaser" autoplay muted loop playsinline height="100%">
        <source src="./static/videos/minibee_bee.mp4"
                type="video/mp4">
      </video>
      <h2 class="subtitle has-text-centered">
        <span class="dnerf">MiniBEE</span> leverages two reduced mobility arms to enable more compact bi-manual manipulation
      </h2>
    </div>
  </div>
</section>

<section class="hero is-light is-small">
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      <!-- Header -->
      <h3 class="title is-3 has-text-centered">Intrinsic Manipulation Policies</h3>

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            <source src="./static/videos/minibee_closeups_glasses.mp4" type="video/mp4">
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            <source src="./static/videos/minibee_closeups_bottle.mp4" type="video/mp4">
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        <h2 class="title is-3">Abstract</h2>
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          <p>
            Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or
            seven-degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework
            increases system complexity while only exploiting a fraction of the overall workspace for dexterous interaction.
            We introduce the MiniBEE (Miniature Bi-manual End-Effector), a compact system in which two reduced-mobility arms (3+ DOF each) are coupled
            into a kinematic chain that preserves full relative positioning between grippers. To guide our design, we
            formulate a kinematic dexterity metric that enlarges the dexterous workspace while keeping the mechanism lightweight
            and wearable. The resulting system supports two complementary modes: (i) wearable kinesthetic data collection with
            self-tracked gripper poses, and (ii) deployment on a standard robot arm, extending dexterity across its entire workspace.
            We present kinematic analysis and design optimization methods for maximizing dexterous range, and demonstrate
            an end-to-end pipeline in which wearable demonstrations train imitation learning policies that perform robust,
            real-world bimanual manipulation.
          </p>
        </div>
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    </div>
    <!-- /Abstract -->


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        <h2 class="title is-3">Data Collection</h2>
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          <video autoplay controls muted loop playsinline width="100%" height="auto">
            <source src="./static/videos/minibee_datacollection.mp4" type="video/mp4">
          </video>
        </div>
        <br/>
        <p>
          We track joint angles, which gives us the pose of the grippers relative to each other. In addition, we collect RGB data from wrist cameras mounted on each gripper. MiniBEE is intentionally designed
          to be as compact as possible without sacrificing dexterity. Due its miniature form factor, MiniBEE can be worn by a person that can then perform kinesthetic data collection for various tasks.
        </p>
      </div>
    </div>
    <!-- /Data Collection -->


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        <h3 class="title is-3 has-text-centered">Experiments</h3>

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              <source src="./static/videos/minibee_experiment_block.mp4" type="video/mp4">
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              <source src="./static/videos/minibee_experiment_glasses.mp4" type="video/mp4">
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              <source src="./static/videos/minibee_experiment_pillbottle.mp4" type="video/mp4">
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    </div>
    <!-- /Experiments -->


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</section>


<section class="section" id="BibTeX">
  <div class="container is-max-desktop content">
    <h2 class="title">BibTeX</h2>
    <pre><code>@misc{islam2025minibeenewformfactor,
      title={MiniBEE: A New Form Factor for Compact Bimanual Dexterity},
      author={Sharfin Islam and Zewen Chen and Zhanpeng He and Swapneel Bhatt and Andres Permuy and Brock Taylor and James Vickery and Pedro Piacenza and Cheng Zhang and Matei Ciocarlie},
      year={2025},
      eprint={2510.01603},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2510.01603},
}</code></pre>
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</section>


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