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cs.RO2026
TGM-VLA: Task-Guided Mixup for Sampling-Efficient and Robust Robotic Manipulation
Fanqi Pu, Lei Jiang, Wenming Yang
The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe…
cs.RO2024
Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes
Siang Chen, Wei Tang, Pengwei Xie +2
Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the…