3 papers
cs.AI2026
Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping
Tao Chen, Lizheng Liu, Jiaxu Wang +4
Generalizable robotic grasping in cluttered environments is essential for deploying manipulators in unstructured human spaces, yet existing VLM-based methods rely on visual similar…
cs.RO2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation
Marcel Torne, Anthony Simeonov, Zechu Li +4
Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement lear…
cs.RO2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Yajvan Ravan, Zhutian Yang, Tao Chen +2
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation whic…