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Gr00tPolicy from Isaac-GR00T (n1d6), --embodiment-tag NEW_EMBODIMENT. The included processor/ carries the normalization stats + modality config.WARNING - Convention (must match at eval): joint-space JointController (absolute joint targets, NON_EEF) + 2 cameras (image_left overview + wrist). A mismatched controller or camera set silently feeds an out-of-distribution input.
1@misc{peng2026maniguard,
2 title = {{MANIGUARD}: A Benchmark and Data Suite for Specification-Grounded
3 Safety Evaluation and Improvement of Robotic Manipulation},
4 author = {Peng, Yiyan and Wang, Philip and Zhan, Simon Sinong and Lyu, Yiqi
5 and Ni, Zhenyang and Yan, Jixin and Wong, Fiorelli and Jiao, Ruochen
6 and Yin, Hang and Cao, Xinyu and Shao, Huajie and Li, Manling
7 and Zhang, Ruohan and Zhu, Qi},
8 year = {2026},
9 eprint = {2608.17386},
10 archivePrefix = {arXiv},
11 primaryClass = {cs.RO},
12 url = {https://arxiv.org/abs/2608.17386},
13}