AI RESEARCH
Mash, Spread, Slice! Learning to Manipulate Object States via Visual Spatial Progress
arXiv CS.CV
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ArXi:2509.24129v2 Announce Type: replace-cross Most robot manipulation focuses on changing the kinematic state of objects: picking, placing, opening, or rotating them. However, a wide range of real-world manipulation tasks involve a different class of object state change--such as mashing, spreading, or slicing--where the object's physical and visual state evolve progressively without necessarily changing its position. We present SPARTA, the first unified framework for the family of object state change manipulation tasks.