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cs.RO2026
PLanAR: Planning-Language-Grounded Agentic Reasoning for Robot Manipulation
Pengyuan Guo, Zhonghao Mai, Zhengtong Xu +8
Recent advances in vision-language models (VLMs) have enabled increasing progress in real-world robot manipulation. However, long-horizon manipulation in unstructured environments…
cs.RO2025
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability
Zhengtong Xu, Zichen Miao, Qiang Qiu +2
Imitation learning-based visuomotor policies excel at manipulation tasks but often produce suboptimal action trajectories compared to model-based methods. Directly mapping camera d…