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About this paper
Jinhui Sun, Wei Zhou, Bowen Yang, Xinliang Xiao, Li Yang
The paper studies how joint-space and end-effector-space robot policy outputs can disagree when they represent different valid routes. It compares the branches after forward kinematics, measuring mismatch beyond an own-frequency chance baseline while accounting for modal capacity and valid-pair rate. On LIBERO-Plus, multimodal successful steps produced a 1.57-point higher false-alarm rate; coordination did not establish a reduction.
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