HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild
This work presents the first study on transferring vision-language-action (VLA) policies to real greenhouse tabletop strawberry harvesting, a long-horizon, unstructured task challenged by occlusion and specular reflections. We built an end-to-end closed-loop system on the HarvestFlex platform using three-view RGB sensing (two fixed scene views plus a wrist-mounted view) and intentionally avoided depth clouds and explicit geometric calibration. We collected 3.71 h of VR teleoperated demonstrations (227 episodes) and fine-tuned pi_0, pi_0.5, and WALL-OSS with full fine-tuning and LoRA. Under a unified 50 trials real-greenhouse protocol and metrics spanning completion, pi_0.5 with full fine-...
| Authors | Ziyang Zhao, Shuheng Wang, Zhonghua Miao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 March 2026 |
| Last updated at source | 6 March 2026 |
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