@article{yang2025gripper, title={Gripper Keypose and Object Pointflow as Interfaces for Bimanual Robotic Manipulation}, author={Yang, Yuyin and Cai, Zetao and Tian, Yang and Zeng, Jia and Pang, Jiangmiao}, journal={arXiv preprint arXiv:2504.17784}, year={2025} }