GRITS combines guided diffusion with a sim-trained spillage predictor to reach 82% success and 4% spillage on ten unseen real food categories, cutting spillage over 40% versus unguided baselines.
Robot-Assisted Feeding: Gen- eralizing Skewering Strategies across Food Items on a Realistic Plate
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GRITS: A Spillage-Aware Guided Diffusion Policy for Robot Food Scooping Tasks
GRITS combines guided diffusion with a sim-trained spillage predictor to reach 82% success and 4% spillage on ten unseen real food categories, cutting spillage over 40% versus unguided baselines.