Franka Dual-Arm Flower Arranging Showcases Embodied Control
Adventurous_Rush1474 · reddit · 2026-07-17
Robbyant demonstrated the Franka dual-arm aligning flower stems one by one on a tabletop and inserting them into a narrow, transparent glass vase. The video is shown at 1x real-time speed, accompanied by a depth view illustration.
The post emphasizes that this type of "last few millimeters" precise insertion is often edited out of demos, but the highlight here is the real-time failure and micro-adjustment process. The underlying model is LingBot-VLA 2.0. The author also mentions that pi-0.5 and GR00T are open-source, but argues the difference lies not in "whether it's open-source," but in:
- Unifying 20 robot configurations into a single 55-dimensional action vector
- Extending whole-body control to the head, waist, mobile base, and dexterous hands
- Utilizing predictive-dynamics pretraining
Additionally, the post notes that while the system often makes partial progress, it tends to fail during final precise placement or release. In the self-reported evaluation for GM-100, the success rate for a certain long-horizon task dropped from 60.0% to 13.3% under OOD conditions, raising questions about "true generalization vs. benchmark sculpting."
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