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Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

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

Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Human manipulation combines semantic understanding of task-relevant objects with spatial feedback that guides hand motion relative to objects and their surroundings. Inspired by this, we introduce a metric interaction framework that models object-level and scene-level interactions in physical Cartesian space at a shared metric scale. At the object level, Interaction-Centric Tokens (ICTs) explicitly r

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