6 papers
Jetson-PI: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inference
Zebin Yang, Qi Wang, Yunhe Wang +6
The paper introduces Jetson-PI, a system that enables real-time deployment of vision-language-action models on low-power edge devices like the Jetson Orin by using foresight-aligne…
Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation
Liang Heng, Jiadong Xu, Yiwen Wang +6
Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate objects with precise semantic and geometric reasoning. Existing approaches e…
AnchorVLA4D: an Anchor-Based Spatial-Temporal Vision-Language-Action Model for Robotic Manipulation
Juan Zhu, Zhanying Shao, Xiaoqi Li +4
Since current Vision-Language-Action (VLA) systems suffer from limited spatial perception and the absence of memory throughout manipulation, we investigate visual anchors as a mean…
RwoR: Generating Robot Demonstrations from Human Hand Collection for Policy Learning without Robot
Liang Heng, Xiaoqi Li, Shangqing Mao +9
Recent advancements in imitation learning have shown promising results in robotic manipulation, driven by the availability of high-quality training data. To improve data collection…
CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation
Xiaoqi Li, Lingyun Xu, Mingxu Zhang +8
In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or video…
3DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignment
Xiaoqi Li, Jiaming Liu, Nuowei Han +4
The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide mode…