SpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation

arXiv:2610.12457 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Project page: https://emilia113.github.io/SpatialHarness

Terminology

Alignment — 12× in this paper · explained in 1 episode
Foundation Model — 9× in this paper · explained in 3 episodes
Consistency — 7× in this paper · explained in 3 episodes
Foundation Models — 7× in this paper · explained in 7 episodes
Scaffolding — 7× in this paper · explained in 3 episodes
Digital Twin — 4× in this paper · explained in 4 episodes
Gaussian Splatting — 3× in this paper · explained in 4 episodes
3D Gaussian Splatting — 2× in this paper · explained in 2 episodes
Accuracy — 2× in this paper · explained in 1 episode
Active Perception — 2× in this paper · explained in 2 episodes
Embodied AI — 2× in this paper · explained in 2 episodes
Fine-Tuning — 2× in this paper · explained in 5 episodes
Fidelity — 1× in this paper · explained in 2 episodes
Generalization — 1× in this paper · explained in 13 episodes
In-Context Learning — 1× in this paper · explained in 4 episodes
Point Clouds — 1× in this paper · explained in 2 episodes
Reinforcement Learning — 1× in this paper · explained in 4 episodes
Segmentation Masks — 1× in this paper · explained in 2 episodes
Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
Transformer — 1× in this paper · explained in 2 episodes

Sources

Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim

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