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cs.RO2025
PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies
Jesse Zhang, Marius Memmel, Kevin Kim +6
Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-lev…
cs.RO2025
Making VLMs More Robot-Friendly: Self-Critical Distillation of Low-Level Procedural Reasoning
Chan Young Park, Jillian Fisher, Marius Memmel +4
Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic exe…