SpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation
Overview
SpatialHarness improves plug insertion success from 26.7% to 66.7% and Tower of Hanoi from 0% to 100% using a frozen GPT-6 Astra policy, enhancing spatial observability without policy fine-tuning.
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- arXiv Robotics — research abstractsSpatialHarness: Test-Time Spatial Scaffolding for Fine Robotic Manipulation
This research introduces SpatialHarness, a test-time embodied harness that improves fine robotic manipulation by enhancing spatial observability without policy fine-tuning. The method synchronizes a simulated scene with real-world execution, identifies critical spatial relationships, and exposes them to a frozen multimodal policy. Evaluated on tasks like plug insertion and Tower of Hanoi, SpatialHarness significantly improves task success rates, highlighting the potential of existing foundation models with enhanced spatial scaffolding.
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