外观
论文arXiv 2610.1245720 天前
SpatialHarness：用于精细机器人操作的测试时空间脚手架
原文链接：SpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation（arXiv 2610.12457 · 发布日期：2026-10-08）
SpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation
提出SpatialHarness，通过测试时同步仿真与虚拟视角增强空间可观测性，并在四个真机精细操作任务上验证。
核心要点
- 问题在于精细操作中，现有物理相机可能无法充分呈现任务关键空间关系。
- SpatialHarness在测试时维护同步在线仿真场景，识别关键空间关系并渲染互补虚拟视角。
- 方法无需策略微调或改变物理传感设置，并用交互感知同步处理静态、持有和过渡模式。
- 在四个真机任务中，同一冻结GPT-6 Astra策略的成功率显著提升，并提供项目网站。
验证范围与局限：验证范围为四个真机操作任务，涵盖精确几何对齐、物体相对放置和关节物体交互。
英文摘要 (Abstract)
Frontier multimodal foundation models (e.g., GPT-6 Astra) have recently shown strong potential for direct robotic control, yet their performance on fine manipulation remains limited. We argue that an important source of failure is not necessarily insufficient policy capability, but insufficient spatial observability, where task-critical spatial relationships may be poorly revealed by the existing physical camera setup. We introduce SpatialHarness, a test-time embodied harness that provides test-time spatial scaffolding for fine robotic manipulation without policy fine-tuning or changes to the physical sensing setup. SpatialHarness maintains an online simulated scene synchronized with real-world execution, identifies task-critical spatial relationships, and renders complementary virtual views that expose them to a frozen multimodal policy. To keep the simulated scene aligned during interaction, we develop interaction-aware scene synchronization that distinguishes static, held, and transition modes. We evaluate SpatialHarness on four real-robot manipulation tasks spanning precise geometric alignment, object-relative placement, and articulated-object interaction. Using the same frozen GPT-6 Astra policy, SpatialHarness substantially improves task success, including from 26.7% to 66.7% on plug insertion and from 0% to 100% on Tower of Hanoi. These results indicate that improving spatial observability at test time can unlock fine-manipulation capabilities already present in strong multimodal foundation models. Project website: https://emilia113.github.io/SpatialHarness/.
作者：Jiayu Wang, Yue Yu, Bin Zhu, Zhiyao Yang, Jingjing Chen
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