Guava harness enables 4B open-source models to achieve performance comparable to frontier models on embodied manipulation tasks by distilling capabilities from under 2K simulation trajectories using three identified design principles.
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Guava: An Effective and Universal Harness for Embodied Manipulation
Guava harness enables 4B open-source models to achieve performance comparable to frontier models on embodied manipulation tasks by distilling capabilities from under 2K simulation trajectories using three identified design principles.