{"id":"https://openalex.org/W7134282367","doi":"https://doi.org/10.48550/arxiv.2603.05982","title":"HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild","display_name":"HarvestFlex: Strawberry Harvesting via Vision-Language-Action Policy Adaptation in the Wild","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134282367","doi":"https://doi.org/10.48550/arxiv.2603.05982"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.05982","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128452840","display_name":"Ziyang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Ziyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128546985","display_name":"Shuheng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Shuheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122884958","display_name":"Zhonghua Miao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Miao, Zhonghua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128469972","display_name":"Ya Xiong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Ya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23528675,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.1842000037431717,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.1842000037431717,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.13449999690055847,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.06210000067949295,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5076000094413757},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.48069998621940613},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.4805999994277954},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4523000121116638},{"id":"https://openalex.org/keywords/greenhouse","display_name":"Greenhouse","score":0.390500009059906},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.38260000944137573},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.3806000053882599}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.609000027179718},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5076000094413757},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.48069998621940613},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.4805999994277954},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4593999981880188},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4523000121116638},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4456999897956848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4214000105857849},{"id":"https://openalex.org/C32198211","wikidata":"https://www.wikidata.org/wiki/Q165044","display_name":"Greenhouse","level":2,"score":0.390500009059906},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.3806000053882599},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.33899998664855957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31119999289512634},{"id":"https://openalex.org/C108597893","wikidata":"https://www.wikidata.org/wiki/Q663650","display_name":"Reflectivity","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.28290000557899475},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C108154423","wikidata":"https://www.wikidata.org/wiki/Q1469792","display_name":"Salience (neuroscience)","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.05982","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.05982","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05982","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.05982","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,34],"first":[4],"study":[5],"on":[6,33],"transferring":[7],"vision-language-action":[8],"(VLA)":[9],"policies":[10],"to":[11],"real":[12,127],"greenhouse":[13],"tabletop":[14],"strawberry":[15],"harvesting,":[16],"a":[17,46,80],"long-horizon,":[18],"unstructured":[19],"task":[20],"challenged":[21],"by":[22,132],"occlusion":[23],"and":[24,49,54,68,72,77,86,102,136],"specular":[25],"reflections.":[26],"We":[27,58],"built":[28],"an":[29],"end-to-end":[30],"closed-loop":[31,119],"system":[32],"HarvestFlex":[35],"platform":[36],"using":[37],"three-view":[38],"RGB":[39],"sensing":[40],"(two":[41],"fixed":[42],"scene":[43],"views":[44],"plus":[45],"wrist-mounted":[47],"view)":[48],"intentionally":[50],"avoided":[51],"depth":[52],"clouds":[53],"explicit":[55],"geometric":[56],"calibration.":[57],"collected":[59],"3.71":[60],"h":[61],"of":[62,97,105,126],"VR":[63],"teleoperated":[64],"demonstrations":[65],"(227":[66],"episodes)":[67],"fine-tuned":[69],"pi_0,":[70],"pi_0.5,":[71],"WALL-OSS":[73],"with":[74,91,99,121],"full":[75,92],"fine-tuning":[76,93],"LoRA.":[78],"Under":[79],"unified":[81],"50":[82],"trials":[83],"real-greenhouse":[84],"protocol":[85],"metrics":[87],"spanning":[88],"completion,":[89],"pi_0.5":[90],"achieved":[94],"success":[95],"rate":[96,104],"74.0%":[98],"32.6":[100],"s/pick":[101],"damage":[103],"4.1%.":[106],"Asynchronous":[107],"inference-control":[108],"decoupling":[109],"further":[110],"improved":[111],"performance":[112],"over":[113],"synchronous":[114],"deployment.":[115],"Results":[116],"showed":[117],"non-trivial":[118],"picking":[120],"fewer":[122],"than":[123],"four":[124],"hours":[125],"data,":[128],"while":[129],"remaining":[130],"limited":[131],"close-range":[133],"observability":[134],"loss":[135],"contact-dynamics":[137],"mismatch.":[138],"A":[139],"demonstration":[140],"video":[141],"is":[142],"available":[143],"at:":[144],"https://youtu.be/bN8ZowZKPMI.":[145]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-10T00:00:00"}
