RGB Observations for Robust Visuomotor Manipulation

AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation

arXiv:2606.06761v1 Announce Type: new Abstract: Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from...