@article{duobenchareproduciblebenchmarkforbimanua,
  title = {DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
  author = {Tobias Jülg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
  year = {2026},
  eprint = {2606.11901},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.11901},
}