18 papers
SIR: Structured Image Representations for Explainable Robot Learning
Paul Mattes, Jan Schwab, Jens Bosch +5
Existing robot policies based on learned visual embeddings lack explicit structure and are sensitive to visual distractions. Thus, the representations that drive their behaviour ar…
SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale
Nils Blank, Paul Mattes, Maximilian Xiling Li +5
This work introduces Spatial Annotations from Robot Demonstrations with Reliability Calibration (SPARC), a risk-aware framework that automatically labels robot demonstrations with…
DAM-VLA: Decoupled Asynchronous Multimodal Vision Language Action model
Pankhuri Vanjani, Zhuoyue Li, Jakub Suliga +4
Vision-language-action (VLA) models inherit a shared synchronous clock from vision-language pretraining, processing every input at one rate. This is misaligned with physical intera…
DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World
Tobias Jülg, Seongjin Bien, Simon Hilber +7
Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captur…
NaviTrace: Evaluating Embodied Navigation of Vision-Language Models
Tim Windecker, Manthan Patel, Moritz Reuss +5
Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigat…
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning
Xiaogang Jia, Qian Wang, Anrui Wang +12
Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure,…