AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation
Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and...
| Authors | Jiyun Jang, Yujin Sung, Woosung Joung et al. |
|---|---|
| Primary category | cs.RO |
| Published | 4 June 2026 |
| Last updated at source | 4 June 2026 |
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