Real-robot trials with OpenVLA on a UR5e arm show consistent offline-to-closed-loop gaps driven by action semantics, coordinate conventions, temporal alignment, image preprocessing, and dataset quality rather than model capacity.
Robot Collisions: A Survey on Detection, Isolation, and Identification
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Vision-Language-Action Models: Experimental Insights from a Real-World UR5 Platform
Real-robot trials with OpenVLA on a UR5e arm show consistent offline-to-closed-loop gaps driven by action semantics, coordinate conventions, temporal alignment, image preprocessing, and dataset quality rather than model capacity.