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About this paper
Liangkai Liu, Bimal Thapa Magar
The authors test how camera viewpoint and inference delay interact to affect safety in closed-loop simulation. They evaluate π0.5 fine-tuned on LIBERO-Spatial across yaw and delay settings, using paired task states. At 60° yaw, increasing delay from 0 to 400 ms raises violations from 21.5% to 58.5%, an interaction of 33.5 points; evidence is limited to one policy and simulated fixed delay.
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