Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation

arXiv:2609.33872 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-27

Updated: 2026-09-27

Project page: https://robot-gst.github.io

Terminology

• Gaussian Splatting — 18× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 8× in this paper · explained in 2 episodes
• Affordance — 8× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Fidelity — 5× in this paper · explained in 2 episodes
• Temporal Reasoning — 5× in this paper · explained in 2 episodes
• Verification — 5× in this paper · explained in 2 episodes
• Digital Twin — 4× in this paper · explained in 5 episodes
• Task Planning — 4× in this paper · explained in 2 episodes
• Benchmarking — 3× in this paper · explained in 4 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Task Decomposition — 2× in this paper · explained in 2 episodes
• Vision-language models — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Octo: An Open-Source Generalist Robot Policy
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• Difficulty-Estimated Policy Optimization
• Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
• RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
• Vision Language Action Models in Robotic Manipulation: A Systematic Review
• GraspSplats: Efficient Manipulation with 3D Feature Splatting
• Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

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• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
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