https://tgl.changnie.top/assets/brand/tgl-cover-v4.png 2026-09-18 https://tgl.changnie.top/assets/brand/tgl-cover-v4.png Teach and Grow conceptual cover A Franka robot places a plush toy into a bowl in a changed scene; sparse teaching and agent guidance contrasted with VLA/WAM data and training costs. https://tgl.changnie.top/assets/brand/tgl-logo-v3.png 2026-09-18 https://tgl.changnie.top/assets/brand/tgl-logo-v3.png Teach and Grow (TGL) logo The TGL mark expresses robotic manipulation and capability growth. https://tgl.changnie.top/assets/figures/fig1.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig1.webp Teach and Grow figure 1 Figure 1 from the Teach and Grow paper. https://tgl.changnie.top/assets/figures/fig2.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig2.webp Teach and Grow figure 2 Figure 2 from the Teach and Grow paper. https://tgl.changnie.top/assets/figures/fig3.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig3.webp Teach and Grow figure 3 Figure 3 from the Teach and Grow paper. https://tgl.changnie.top/assets/figures/fig4.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig4.webp Teach and Grow figure 4 Figure 4 from the Teach and Grow paper. https://tgl.changnie.top/assets/figures/fig5.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig5.webp Teach and Grow figure 5 Figure 5 from the Teach and Grow paper. https://tgl.changnie.top/assets/figures/fig6.webp 2026-09-18 https://tgl.changnie.top/assets/figures/fig6.webp Teach and Grow figure 6 Figure 6 from the Teach and Grow paper. https://tgl.changnie.top/assets/posters/libero_object_task00_teacher.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task00_teacher.webp Same goal. A different grasp. — teacher demonstration The teacher supplies the task structure: acquire the can, carry it, release it in the basket. TGL takes a different approach direction and a different grasp, and still reaches the same outcome. The st https://tgl.changnie.top/assets/posters/libero_object_task00_system.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task00_system.webp Same goal. A different grasp. — Teach and Grow rollout The teacher supplies the task structure: acquire the can, carry it, release it in the basket. TGL takes a different approach direction and a different grasp, and still reaches the same outcome. The st https://tgl.changnie.top/assets/posters/libero_spatial_task00_teacher.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task00_teacher.webp A new contact point. The same subgoal. — teacher demonstration TGL grasps a different part of the bowl rim than the teacher does. The subgoal is unchanged; the contact point is recomputed from the scene in front of the robot. https://tgl.changnie.top/assets/posters/libero_spatial_task00_system.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task00_system.webp A new contact point. The same subgoal. — Teach and Grow rollout TGL grasps a different part of the bowl rim than the teacher does. The subgoal is unchanged; the contact point is recomputed from the scene in front of the robot. https://tgl.changnie.top/assets/posters/libero_spatial_task09_teacher.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task09_teacher.webp Miss. Observe. Try again. — teacher demonstration The first grasp does not secure the bowl. In this system rollout, TGL tries again and completes the placement: recovery driven by what the robot observed after the failed lift. https://tgl.changnie.top/assets/posters/libero_spatial_task09_system.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_spatial_task09_system.webp Miss. Observe. Try again. — Teach and Grow rollout The first grasp does not secure the bowl. In this system rollout, TGL tries again and completes the placement: recovery driven by what the robot observed after the failed lift. https://tgl.changnie.top/assets/posters/libero_object_task02_teacher.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task02_teacher.webp From a taught sequence to execution. — teacher demonstration The teacher and TGL both complete the bottle transfer. On a second object the same three stages hold: acquire, transport, release. https://tgl.changnie.top/assets/posters/libero_object_task02_system.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_object_task02_system.webp From a taught sequence to execution. — Teach and Grow rollout The teacher and TGL both complete the bottle transfer. On a second object the same three stages hold: acquire, transport, release. https://tgl.changnie.top/assets/posters/libero_goal_task07_teacher.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_goal_task07_teacher.webp Turn a goal into a physical change. — teacher demonstration Here the goal is not a change of location. The robot has to reach the stove knob and turn it, and both clips follow the approach and the rotation itself. https://tgl.changnie.top/assets/posters/libero_goal_task07_system.webp 2026-09-18 https://tgl.changnie.top/assets/posters/libero_goal_task07_system.webp Turn a goal into a physical change. — Teach and Grow rollout Here the goal is not a change of location. The robot has to reach the stove knob and turn it, and both clips follow the approach and the rotation itself.