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Splat2Act: From Captured Scenes to Personalized VLA Manipulation
Ye 2026-10-09
Xiaomeng YeKrishna JaganathanGyubeum Lim
A user who brings a generalist manipulation policy into their home or office wants it to pick up their objects from their shelves, counters, and tables. Yet even a strong generalist like $π_{0.5}$ achieves 0% pickup success in our captured deployment scenes without adaptation, and collecting real demonstrations in every user's environment is prohibitively expensive. We present Splat2Act, an automa
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Key Contributions
- A user who brings a generalist manipulation policy into their home or office wants it to pick up their objects from their shelves, counters, and tables.
- Yet even a strong generalist like $π_{0.5}$ achieves 0% pickup success in our captured deployment scenes without adaptation, and collecting real demonstrations in every user's environment is prohibitively expensive.
- We present Splat2Act, an automa
Research Themes
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