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For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and action-coordinate interpretation. Using camera parameters and end-effector poses, AxisGuide renders the robot base-frame axes in each camera view and augments RGB observations with a small set of cue channels that explicitly visualize the meaning of t","title":"AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation","url":"https://arxiv.org/abs/2606.06761","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.06761v1 Announce Type: cross \nAbstract: Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and action-coordinate interpretation. Using camera parameters and end-effector poses, AxisGuide renders the robot base-frame axes in each camera view and augments RGB observations with a small set of cue channels that explicitly visualize the meaning of t","title":"AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-08T04:44:02Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.06761"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:dff3c45b1edc09175019d8a9e88a1c03e447a964b63854aab28517e2ce3a848174b4c5d6a317c1febbc19acd0c4d7bab065a209b500ed778f704fc84bfe9a20a","signer":"crovia.substrate","subject":{"observed_at":"2026-06-08T04:44:02Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.06761"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"0ca4425d651fb22794992132292d66858fb8a596f62fb743e3f2adba6de7f433","leaf_index":223716,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a498b9f18dd95df29923cc56e399255fed2f516993109ade80efc51f0df44735","side":"right"},{"sibling":"8699fe148f447995c4b94e31a271d686569f3fc2b48347ea1de92980f04b8ad3","side":"right"},{"sibling":"9e49457bff23637e877ac5656542dff2a22edb67f1cf9d12b1731a09f2107da9","side":"left"},{"sibling":"736bd4b8cab334fa8dba8b9bb16f182dbfceefef228b15958b0f6c1fa3db641e","side":"right"},{"sibling":"819e08a722d406eee08084b89a6ae757a227f93b1c98c35e522fadcb542888de","side":"right"},{"sibling":"e6263fa1c16b099e74d0a773720fa930ac54d3b2832f0553382cf4915ee7e3ac","side":"left"},{"sibling":"b8fd8426684aecbac5ac68f1180433b0ef287dbac35cd5f96d146410960e5e8e","side":"left"},{"sibling":"f52e49855e10c1db333480ff9b611c4795fd9e2f84430900141c99330582a520","side":"left"},{"sibling":"5f83c2a81d932eed327e06ff2498f8ed85199cdf7d5f3cd3565fb2a9003a8b8f","side":"left"},{"sibling":"06e9be95ebfd6e5cffbe9db8fc8fd32e8c20d38b7d7f0df3dc7dc5e76bb1848c","side":"right"},{"sibling":"5480e1ea31f4744f9bd7c4261771fe51f2cdb01e705cc17320bfc202d935ca12","side":"right"},{"sibling":"24fdc29d461691aedb6fa920758206b5bb43851f477ef7a04c34aaed84b8971b","side":"left"},{"sibling":"036922da4e1e2c46d948f070454bfad299b7406fb00735ea9d8bd1e687f5f445","side":"right"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"87c6b850dfec08ac35a693d9db3a3315250a68adb1cfab9b1015f212b63b15bd","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":224761,"merkle_root":"e9f7b49b652e869ab97ffba9c5a31356b2d0e3dc5d00bb28944adf737c46b1e7","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260609T103805Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-09T14:15:34Z","sig_algorithm":"ed25519","signature":"8ad8076fb12c8e486ae1d1559a9a7ba8e2ee996a9ad3d8ba7bcdbdbd88ab3a15bcb429707aca6d3e9d8b97e2ba755b3dcc77b1abb6601ccb829842719a6fb30d","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_4a29c0a9851bd0891cd3583e050021fd686249ddba087a97afe7ffc00e50f29f"}}