Projecting robot end-effector state onto image feature maps and sampling co-located visual tokens improves manipulation policy success by 4-10% across 67 tasks.
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GeoProp: Grounding Robot State in Vision for Generalist Manipulation
Projecting robot end-effector state onto image feature maps and sampling co-located visual tokens improves manipulation policy success by 4-10% across 67 tasks.
- RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation