4 papers · 2 filters
Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies
Yue Yang, Diego Romeres, Chiori Hori +3
Vision-Language-Action (VLA) policies fuse multimodal sensory inputs, but training on limited and homogeneous robot demonstrations encourages spurious inter-sensor correlations rat…
SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control
Siddarth Jain, Ho Jin Choi
Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynamic settings. This paper presents SplatCtrl, a unified framework for r…
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel +4
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanu…
VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies
Robert Ramirez Sanchez, Daniel J. Evans, Dylan P. Losey +1
Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning to replicate the demonstration at the same pace, many industrial and prac…