Splat2Act: From Captured Scenes to Personalized VLA Manipulation

A user who brings a generalist manipulation policy into their home or office wants it to pick up their objects from their shelves, counters, and tables. Yet even a strong generalist like π_(0.5) achieves 0% pickup success in our captured deployment scenes without adaptation, and collecting real demonstrations in every user's environment is prohibitively expensive.

摘自论文摘要，摘要生成中。