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SafeHarness is presented, which equips the model with two obstacle-aware harnesses that enable it to prioritize the safety constraint, and surpasses the previous SOTA by 6.5% and 27.0%, respectively.
BATON transforms long-horizon robot manipulation by making subtask exploration efficient and transition-aware, leading to significant performance gains.
Action-free video pretraining boosts surgical robot success rates by over 20 percentage points, transforming how we approach data scarcity in surgical learning.
