4 papers
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning +3
We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \& task cells,…
TrianguLang: Geometry-Aware Semantic Consensus for Pose-Free 3D Localization
Bryce Grant, Aryeh Rothenberg, Atri Banerjee +1
Localizing objects and parts from natural language in 3D space is essential for robotics, AR, and embodied AI, yet existing methods face a trade-off between the accuracy and geomet…
Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models
Bryce Grant, Xijia Zhao, Peng Wang
Vision-Language-Action (VLA) models combine perception, language, and motor control in a single architecture, yet how they translate multimodal inputs into actions remains poorly u…
Quaternion Approximation Networks for Enhanced Image Classification and Oriented Object Detection
Bryce Grant, Peng Wang
This paper introduces Quaternion Approximate Networks (QUAN), a novel deep learning framework that leverages quaternion algebra for rotation equivariant image classification and ob…