# Bringing the RT-1-X Foundation Model to a SCARA robot

arXiv: https://arxiv.org/abs/2409.03299 · HTML: https://mlsanity.com/paper/2409.03299/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 24 references that are in the map.
- First posted on arXiv 5 Sep 2024.

## Builds on (most cited first, 11 of 11)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [BridgeData V2: A Dataset for Robot Learning at Scale](https://mlsanity.com/paper/2308.12952/) (2023)
- [What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data](https://mlsanity.com/paper/2204.06252/) (2022)
- [TokenLearner: What Can 8 Learned Tokens Do for Images and Videos?](https://mlsanity.com/paper/2106.11297/) (2021)
- [A Survey of Embodied Learning for Object-Centric Robotic Manipulation](https://mlsanity.com/paper/2408.11537/) (2024)

## Built on by (most cited first, 1 of 1)

- [Monocular 3D Object Position Estimation with VLMs for Human-Robot Interaction](https://mlsanity.com/paper/2603.01224/) (2026)

## Abstract (arXiv)

Traditional robotic systems require specific training data for each task, environment, and robot form. While recent advancements in machine learning have enabled models to generalize across new tasks and environments, the challenge of adapting these models to entirely new settings remains largely unexplored. This study addresses this by investigating the generalization capabilities of the RT-1-X robotic foundation model to a type of robot unseen during its training: a SCARA robot from UMI-RTX. Initial experiments reveal that RT-1-X does not generalize zero-shot to the unseen type of robot. However, fine-tuning of the RT-1-X model by demonstration allows the robot to learn a pickup task which was part of the foundation model (but learned for another type of robot). When the robot is presented with an object that is included in the foundation model but not in the fine-tuning dataset, it demonstrates that only the skill, but not the object-specific knowledge, has been transferred.