BWhat changed
Trained a monocular vision-language waypoint policy on simulation trajectories using episode-level prefix caching/tree masks, then applied CISPO reinforcement learning; a diffusion policy and motion controller execute waypoints.
Scientific scope
Trained a monocular vision-language waypoint policy on simulation trajectories using episode-level prefix caching/tree masks, then applied CISPO reinforcement learning; a diffusion policy and motion controller execute waypoints. Pointing has metric-displacement fallback; a121M diffusion policy uses robot height/radius and an embodiment-specific controller. Thus the full system is not pure image-space actuation or calibration-free universal robotics. Benchmark and two-platform tests are not guaranteed safe navigation.
Evidence
The linked original sources describe the stated contribution and its evidence limits. WRS has not independently rerun the experiments or certified a proof. Pointing has metric-displacement fallback; a121M diffusion policy uses robot height/radius and an embodiment-specific controller. Thus the full system is not pure image-space actuation or calibration-free universal robotics. Benchmark and two-platform tests are not guaranteed safe navigation.
Contributors
- Source-listed authors and technical contributors · SCIENCE: Source-listed authors or explicitly credited technical contributors for the cited versions. Family entries retain source-specific attribution; a combined list is not one original-paper byline or equal individual work. Names alone do not establish resolved identities.
Provisional WRS assessment, edition 2026-10-16.1. Independent expert calibration is pending. This grade does not certify correctness or assign ownership.
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