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Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Many real-world robotic applications require dynamically sensitive manipulation, where success depends not only on reaching a target state but on maintaining stable object dynamics throughout execution. We study the stable transport of liquid-filled containers, where a robot must move objects to target locations while suppressing sloshing and preventing spillage. Unlike conventional pick-and-place, this task imposes stringent requirements on motion smoothness and trajectory-level stability, exposing clear limitations in existing systems. Specifically, fluid simulation remains too costly for on

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