VOMMI: איסוף וניצול הדגמאות ניידות למניפולציה

תקציר מקורי באנגליתarXiv:2610.08220v1 Announce Type: cross Abstract: Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB observations remains challenging. Existing approaches often rely on teleoperation or specialized devices equipped with additional sensing hardware, while directly using estimated visual odometry (VO) trajectories can introduce inconsistencies due to accumulated drift and imperfect motion supervision. We present the Visual-Odometry-Conditioned Mobile Manipulation Interface (VOMMI), a portable demonstration collection and learning framework that connects portable RGB demonstrations to vision-language-action (VLA) post-training through offline trajectory reconstruct