SSI-Policy uses an RGB-only Structured Scene Interface to improve LIBERO benchmark performance by nearly 15% with only 10 demonstrations per task compared to prior methods.
Robo-abc: Affordance generalization beyond categories via semantic correspondence for robot manipulation,
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SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation
SSI-Policy uses an RGB-only Structured Scene Interface to improve LIBERO benchmark performance by nearly 15% with only 10 demonstrations per task compared to prior methods.