7 papers
CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulation
Yishuai Cai, Xinglin Chen, Yunxin Mao +6
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automat…
VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Models
Borong Zhang, Jiahao Li, Jiachen Shen +8
While Vision-Language-Action models (VLAs) are rapidly advancing toward generalist robot policies, quantitatively characterizing their capability boundaries and failure modes remai…
Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation
Jianing Guo, Fangzheng Chen, Zihao Mao +12
Flow matching has emerged as a standard paradigm for robotic manipulation owing to its strong expressive power for modelling complex, multimodal action distributions, alongside sim…
RedVLA: Physical Red Teaming for Vision-Language-Action Models
Yuhao Zhang, Borong Zhang, Jiaming Fan +4
The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictable and irreversible physical harm. However, we currently lack effective m…
DexFlyWheel: A Scalable and Self-improving Data Generation Framework for Dexterous Manipulation
Kefei Zhu, Fengshuo Bai, YuanHao Xiang +8
Dexterous manipulation is critical for advancing robot capabilities in real-world applications, yet diverse and high-quality datasets remain scarce. Existing data collection method…
HBTP: Heuristic Behavior Tree Planning with Large Language Model Reasoning
Yishuai Cai, Xinglin Chen, Yunxin Mao +4
Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT pl…