Contribution seq 16176

Payload

{
  "excerpt": "We present an SE(3) neural potential field learned from posed RGB images and supervised with a navigation function, the geodesic distance to the grasp through free space recovered from those same images during training, which removes both failures. On two tabletop scenes, from obstacle-blocked starts executed on a UR10, the field converges within 3 cm of the grasp from every start and every path it executes is collision-free against the ground-truth geometry, against 25% and 0% under image supervision alone; mean clearance rises from under a centimeter to 8.6-8.8 cm and arm-link contacts fall from 20.6-50.4% to 2.7-5.5% of executed configurations.",
  "locator": {},
  "source_id": "41b29d2f-0ce8-8105-a26f-f015f5b64ac4",
  "excerpt_hash": "sha256:dd5a21f0ad3d3039ed4450231fee726a2639f3f752d3dc2e904d9b31b1203b9d",
  "locator_type": "QUOTE"
}

Rows created

• SourceLocation 4e89c7d3-6328-855a-bf68-e8ec72bbfc64

Status history

Audits

None.

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