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Physical Kernel: Structured Visual Latents for Dark Manipulation

Hang, Jinting et al.
arXiv (OAI Expanded) · Papers
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computer-vision-and-pattern-recognitionrobotics
We study dark manipulation: after a brief lit Write encodes z0 = Enc(rgb), a policy pi(z) and open-loop dynamics f(z,a) complete contact-rich skills without further pixels (dark_f). On ManiSkill StackCube (n=160; seed packs 0/1000), dark_f attains 68.1% stacked on the five-rung chain (near_A -> gras
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