نسخة أولية وصول مفتوح
SARI: Phase-Split Sim-Real Co-Training for Contact-Rich Manipulation
Vision-language-action (VLA) models often require costly real-world demonstrations to adapt to contact-rich manipulation tasks, particularly when generalization across object placements is needed. We propose SARI (Simulated Approach, Real Interaction), a phase-split sim-and-real co-training framework built on a simple …