Sim-to-real manipulationIntermediate
SARI: Phase-Split Sim-Real Co-Training for Contact-Rich Manipulation
This preprint introduces SARI, a phase-split co-training framework that post-trains a vision-language-action policy on simulated free-space approaches and real contact interactions for contact-rich manipulation. On a lamp task, it reduces real demonstration time by 34.3% and reaches 27.5% success at unseen object placements, where full-task simulation, real-only, and full-task co-training baselines score 0%. The result shows how to allocate scarce real contact data while preserving spatial generalization.