ComManip: Overfitting Manipulation Policies to Comfortable Regions

arXiv:2609.36928 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/Vector-Wangel/XLeRobot

Terminology

• Alignment — 19× in this paper · explained in 1 episode
• Generalization — 7× in this paper · explained in 13 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Compositional Generalization — 1× in this paper · explained in 4 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• GNNs — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
• VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs

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