SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
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A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.
citing papers explorer
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SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
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HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.