[2606.24049] SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
[Submitted on 23 Jun 2026]
Title:SPACE: Enabling Learning from Cross-Robot Data Toward Generalist Policies
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Abstract:In robot learning, scaling training datasets across diverse embodiments and environments has become a dominant paradigm for learning generalizable robot policies. These policies are commonly trained via behavior cloning to imitate actions from pre-collected demonstrations. However, since robot actions are tied to the dynamics of the data collection robot, different robots may require different actions to achieve the same motion. This discrepancy hinders both policy training and deployment across diverse robots. To address this, we propose using Cartesian state delta as a universal action representation across robots, and introduce State Prediction and Adaptive Command Execution (SPACE) framework. SPACE handles robot dynamics variation at three levels: across different embodiments, across hardware units of the same embodiment, and within a single robot during operation. It consists of two components: (i) a Cartesian state delta policy that predicts geometric end-effector displacement, and (ii) Action Adapter, which converts the predicted Cartesian state delta into robot-specific control commands. Experiments show that SPACE substantially outperforms policies that directly predict control commands when learning from data collected across different embodiments and across hardware units of the same embodiment. SPACE also remains robust under dynamics shifts at deployment, including changes in control frequency, object weight, and controller gains. The project page is available at this http URL.
Comments: Project page: this http URL
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.24049 [cs.RO]
(or arXiv:2606.24049v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.24049
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Haeone Lee [view email] [v1] Tue, 23 Jun 2026 01:32:40 UTC (7,461 KB)
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