SpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation
- Published
- Source
- arXiv
- Paper number
- 1203
- Field
- Robotics
- arXiv ID
- 2610.12457
Key points
- SpatialHarness maintains an online simulated scene synchronized with real-world execution, identifies task-critical spatial relationships, and renders complementary virtual views.
- It supplies spatial information to a frozen multimodal policy without policy fine-tuning or changes to the physical sensing setup.
- With the same frozen GPT-6 Astra policy, plug-insertion success rose from 26.7% to 66.7% and Tower of Hanoi from 0% to 100%.
- The average success rate improved from 18.33% to 83.33%, a gain of 65.00 percentage points.
Paper links
External research summaries. These are not HDATF publications or measured product results.