Wen-De Xie

GRASP: Global-Local Representation Alignment and Spatial-Physical Grounding for Bimanual Robotic Manipulation

Vision-Language-Action (VLA) models that directly regress joint-space actions avoid the deployment-time cost of inverse kinematics. However, their training objectives remain misaligned with task success, as joint-space losses ignore the unequal physical consequences of joint errors and visual conditioning lacks explici...