Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation
Robotic manipulation policies are advancing rapidly with increasing reliance on vision-language models for end-to-end decision making. However, reliable deployment remains challenging because many policies lack explicit mechanisms for predicting task outcomes and evaluating whether generated actions will achieve desired final states, causing execution errors to accumulate during long-horizon manipulation. We present Robot-GST, a geometry-aware spatio-temporal behaviour representation and evaluation framework that constructs a Gaussian-SAM robotic environment for real-to-sim policy verification and improves the reliability of real-world manipulation deployment. Our approach constructs a hi...
| Authors | Sichao Liu, Zekun Wang, Lixuan Tang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 September 2026 |
| Last updated at source | 27 September 2026 |
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