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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.05982 |
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| _version_ | 1866911492659478528 |
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| author | Zhao, Ziyang Wang, Shuheng Miao, Zhonghua Xiong, Ya |
| author_facet | Zhao, Ziyang Wang, Shuheng Miao, Zhonghua Xiong, Ya |
| contents | This work presents the first study on transferring vision-language-action (VLA) policies to real greenhouse tabletop strawberry harvesting, a long-horizon, unstructured task challenged by occlusion and specular reflections. We built an end-to-end closed-loop system on the HarvestFlex platform using three-view RGB sensing (two fixed scene views plus a wrist-mounted view) and intentionally avoided depth clouds and explicit geometric calibration. We collected 3.71 h of VR teleoperated demonstrations (227 episodes) and fine-tuned pi_0, pi_0.5, and WALL-OSS with full fine-tuning and LoRA. Under a unified 50 trials real-greenhouse protocol and metrics spanning completion, pi_0.5 with full fine-tuning achieved success rate of 74.0% with 32.6 s/pick and damage rate of 4.1%. Asynchronous inference-control decoupling further improved performance over synchronous deployment. Results showed non-trivial closed-loop picking with fewer than four hours of real data, while remaining limited by close-range observability loss and contact-dynamics mismatch. A demonstration video is available at: https://youtu.be/bN8ZowZKPMI. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_05982 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild Zhao, Ziyang Wang, Shuheng Miao, Zhonghua Xiong, Ya Robotics Computer Vision and Pattern Recognition This work presents the first study on transferring vision-language-action (VLA) policies to real greenhouse tabletop strawberry harvesting, a long-horizon, unstructured task challenged by occlusion and specular reflections. We built an end-to-end closed-loop system on the HarvestFlex platform using three-view RGB sensing (two fixed scene views plus a wrist-mounted view) and intentionally avoided depth clouds and explicit geometric calibration. We collected 3.71 h of VR teleoperated demonstrations (227 episodes) and fine-tuned pi_0, pi_0.5, and WALL-OSS with full fine-tuning and LoRA. Under a unified 50 trials real-greenhouse protocol and metrics spanning completion, pi_0.5 with full fine-tuning achieved success rate of 74.0% with 32.6 s/pick and damage rate of 4.1%. Asynchronous inference-control decoupling further improved performance over synchronous deployment. Results showed non-trivial closed-loop picking with fewer than four hours of real data, while remaining limited by close-range observability loss and contact-dynamics mismatch. A demonstration video is available at: https://youtu.be/bN8ZowZKPMI. |
| title | HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2603.05982 |