1 citations · 1 across the 8 of their papers we have counts for
9 papers
ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation
Chang Dong, Mehdi Hosseinzadeh, King Hang Wong +5
This paper presents a comprehensive framework for robot manipulation failure analysis that includes binary failure detection, failure categorization, explanation generation, and th…
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
Lishan Yang, Wenxuan Song, Xi Wang +14
Building on recent advances in world models, World Action Models (WAMs) jointly model video prediction and action generation. However, they typically represent videos in 2D pixel s…
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
King Hang Wong, Lingqiao Liu, Feras Dayoub
Contact-rich manipulation requires policies to infer interaction state from signals that are often weakly observable through vision and kinematics alone. Action Chunking with Trans…
TTT-VLA: Test-Time Latent Prompt Optimization for Vision-Language-Action Models
Wenbo Zhang, Jianxiong Li, Shuai Yang +4
Vision-Language-Action (VLA) models trained on large-scale data have made remarkable progress, but they remain vulnerable to distribution shifts at deployment time. Recent VLA mode…
Embodied Domain Adaptation for Object Detection
Xiangyu Shi, Yanyuan Qiao, Lingqiao Liu +1
Mobile robots rely on object detectors for perception and object localization in indoor environments. However, standard closed-set methods struggle to handle the diverse objects an…
Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation
Wenbo Zhang, Tianrun Hu, Hanbo Zhang +7
We present Chain-of-Action (CoA), a novel visuo-motor policy paradigm built upon Trajectory Autoregressive Modeling. Unlike conventional approaches that predict next step action(s)…
Exploring Primitive Visual Measurement Understanding and the Role of Output Format in Learning in Vision-Language Models
Ankit Yadav, Lingqiao Liu, Yuankai Qi
This work investigates the capabilities of current vision-language models (VLMs) in visual understanding and attribute measurement of primitive shapes using a benchmark focused on…
Effective Tuning Strategies for Generalist Robot Manipulation Policies
Wenbo Zhang, Yang Li, Yanyuan Qiao +5
Generalist robot manipulation policies (GMPs) have the potential to generalize across a wide range of tasks, devices, and environments. However, existing policies continue to strug…
Improving Online Source-free Domain Adaptation for Object Detection by Unsupervised Data Acquisition
Xiangyu Shi, Yanyuan Qiao, Qi Wu +2
Effective object detection in autonomous vehicles is challenged by deployment in diverse and unfamiliar environments. Online Source-Free Domain Adaptation (O-SFDA) offers model ada…