{"paper":{"title":"GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Annabella Macaluso, Ge Yan, Jianglong Ye, Li Erran Li, Nicklas Hansen, Xiaolong Wang, Yanjie Ze, Yueh-Hua Wu, Yuying Ge","submitted_at":"2023-08-31T17:52:10Z","abstract_excerpt":"It is a long-standing problem in robotics to develop agents capable of executing diverse manipulation tasks from visual observations in unstructured real-world environments. To achieve this goal, the robot needs to have a comprehensive understanding of the 3D structure and semantics of the scene. In this work, we present $\\textbf{GNFactor}$, a visual behavior cloning agent for multi-task robotic manipulation with $\\textbf{G}$eneralizable $\\textbf{N}$eural feature $\\textbf{F}$ields. GNFactor jointly optimizes a generalizable neural field (GNF) as a reconstruction module and a Perceiver Transfor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.16891","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2308.16891/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}