CoAct

Consensus-gated bimanual manipulation with live-correctable confirmation

Agent A

Arm A — south camera

Target—

Attribute—

Confidence—

Awaiting instruction.

Shared workspace · dual SO-101 · top-down

IDLEno target

CONSENSUS GATE

idle · no instruction

Two embodied viewpoints must independently resolve the same referent before any physical commitment is permitted.

consensus = — confirmation_required = — confirmation_completed = — EXECUTION —

Command

Speechmatics: checking…

Agent B

Arm B — north camera

Target—

Attribute—

Confidence—

Awaiting instruction.

Event timeline

Ambiguity lab