5 papers
RoboRouter: Training-Free Policy Routing for Robotic Manipulation
Yiteng Chen, Zhe Cao, Hongjia Ren +9
Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based composi…
Discrete Tilt Matching
Yuyuan Chen, Shiyi Wang, Peter Potaptchik +2
Masked diffusion large language models (dLLMs) are a promising alternative to autoregressive generation. While reinforcement learning (RL) methods have recently been adapted to dLL…
FrankenBot: Brain-Morphic Modular Orchestration for Robotic Manipulation with Vision-Language Models
Shiyi Wang, Wenbo Li, Yiteng Chen +2
Developing a general robot manipulation system capable of performing a wide range of tasks in complex, dynamic, and unstructured real-world environments has long been a challenging…
T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Models
Yiteng Chen, Wenbo Li, Shiyi Wang +2
Building a general robotic manipulation system capable of performing a wide variety of tasks in real-world settings is a challenging task. Vision-Language Models (VLMs) have demons…
AntiGrounding: Lifting Robotic Actions into VLM Representation Space for Decision Making
Wenbo Li, Shiyi Wang, Yiteng Chen +2
Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often…