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cs.RO2026
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…
cs.RO2026
Embedding Morphology into Transformers for Cross-Robot Policy Learning
Kei Suzuki, Jing Liu, Ye Wang +4
Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, su…
cs.RO2025
Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM
Chiori Hori, Yoshiki Masuyama, Siddarth Jain +4
Human-robot collaboration towards a shared goal requires robots to understand human action and interaction with the surrounding environment. This paper focuses on human-robot inter…