VoiceTwin: Bimanual Manipulation & Recovery

VoiceTwin is a versioned bimanual manipulation and recovery architecture for a dinner-table mission in MuJoCo with dual SO-101 arms. Its successful simulated manipulation is delivered by verified deterministic skills, not by a learned policy. In one continuous physics episode, the system performs cooperative drawer retrieval, clears the shared workspace, executes a bimanual plate handoff, places the objects, and verifies the final state. A deliberate receiver-arm fault demonstrates bounded recovery: MissionRegistry versions the mission plan, rejects the stale action, preserves completed drawer work, and retries the failed handoff without a global reset. Historical bounded acceptance passed 30/30 recorded episodes. The frozen multidimensional submission matrix passed 7/10 full missions and 10/10 drawer retrieval; shape/geometry variation is explicitly unsupported. Raw results and verifier failures are public. VoiceTwin integrates Intel Physical AI Runtime and OpenVINO. All reported local measurements were produced on an Intel Core 3 100U CPU; no Core Ultra, GPU, NPU, real-robot, or physical-deployment result is claimed. ACT, SmolVLA, and SmolVLM2 experiments were evaluated separately, did not pass the final dinner-table gates, and are not responsible for the successful mission. The public repository and Streamlit evidence room expose code, videos, benchmarks, limitations, provenance, hashes, and reproduction commands.