I'm not super up to date on new releases, the one I'm most familiar with is X-VLA which predicts gripper poses and relative movement deltas for kinematics to mo

I'm not super up to date on new releases, the one I'm most familiar with is X-VLA which predicts gripper poses and relative movement deltas for kinematics to move to instead of joints, and trains on forward kinematic gripper poses. I think Intern and Octo have the same approach.