Show Lab, NUS · VLM Robot Control

Show-Harness

A compact semantic interface between vision-language model intent and robot action, using discrete semantic action units such as MV_FWD, GRASP and ROTATE_CW that embodiment-specific interpreters ground deterministically into local motion. It supports zero-shot control of closed frontier models and cheap fine-tuning of small open ones at Qwen 2B-9B scale, needing only a few GPU-hours. Against pi0.5, GR00T, H-VLA, G-VLA, CaP-X and RATS it reports cross-task success of 89% zero-shot and 86% fine-tuned, cross-embodiment 93% and 87% on Franka and AgileX, and cross-environment 100% and 88%. Self-reported.