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Gripper-aware Vision Language Action Models
Hanyi Zhang, Zihong Luo, Tianyu Li +16
Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling robots to interpret visual observations and natural language instru…
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
Hanyi Zhang, Khang Nguyen, Charith Munasinghe +10
Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning…
Hybrid Deep Reinforcement Learning for Radio Tracer Localisation in Robotic-assisted Radioguided Surgery
Hanyi Zhang, Kaizhong Deng, Zhaoyang Jacopo Hu +2
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target de…
X-IL: Exploring the Design Space of Imitation Learning Policies
Xiaogang Jia, Atalay Donat, Xi Huang +8
Designing modern imitation learning (IL) policies requires making numerous decisions, including the selection of feature encoding, architecture, policy representation, and more. As…
Towards Fusing Point Cloud and Visual Representations for Imitation Learning
Atalay Donat, Xiaogang Jia, Xi Huang +7
Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric struct…