Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastic...
This work adds one feature-alignment term to ordinary VLA training: a frozen world model is run over the training frames once and cached, and the student learns to agree with that cache, indicating a broad representational prior rather than a fragile alignment between two particular networks.
T. Dao, Sankalp Yamsani, Jaden Park et al.· 1 citation
A modular perception pipeline for household manipulation tasks, with a focus on dishware handling in kitchen environments, that integrates open-vocabulary object detection, multi-view segmentation, instance-aware 3D reconstruction, and a 2D-3D feature fusion strategy for 6D pose estimation and grasp planning is present...
