MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
Learning generalizable manipulation policies with object-centric 3d representations
2 Pith papers cite this work. Polarity classification is still indexing.
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2026 2verdicts
UNVERDICTED 2representative citing papers
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.
citing papers explorer
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Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
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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.