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GR-VIP: Geometric representation-conditioned visuomotor policy for precise docking

The study proposes GR-VIP, a goal-conditioned visuomotor policy that uses a visual encoder pretrained for relative camera pose estimation, conditioning action prediction on dense relational features before pose regression to preserve fine-grained cross-view information for learning corrective actions from demonstrations. In real-world docking tasks, GR-VIP achieves high docking success rates and millimeter-level terminal accuracy in both the training environment and unseen environments, with transfer requiring no additional training. Supplementary experiments show the policy can align with non-docking targets and complete docking under the low-light conditions tested.

Part of the event: GR-VIP uses geometric representation conditioning to improve robot docking precision

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