23 papers
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…
-WM: A Unified Video-Action World Model for Robotic Manipulation
Pengfei Zhou, Shengcong Chen, Di Chen +17
Robotic manipulation requires models that generate executable actions while anticipating and evaluating their future consequences before physical execution. We present -World…
MVISTA-4D: View-Consistent 4D World Model with Test-Time Action Inference for Robotic Manipulation
Jiaxu Wang, Yicheng Jiang, Tianlun He +8
World-model-based imagine-then-act becomes a promising paradigm for robotic manipulation, yet existing approaches typically support either purely image-based forecasting or reasoni…
MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy
Jiaxu Wang, Junhao He, Jingkai Sun +5
Learning real-world dynamics from visual observations is crucial for various domains. A common strategy is to calibrate simulators by estimating physical parameters, yet accuracy i…
Learning Structural Latent Points for Efficient Visual Representations in Robotic Manipulation
Yicheng Jiang, Jiaxu Wang, Junhao He +8
Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural field…
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…