5 papers
ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning
Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao +5
Embodied agents must determine where to act, anticipate the resulting scene changes, and interpret observed outcomes to guide subsequent actions. This requires connecting 4D intera…
AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence
Jiawei Zhang, Kaizhe Hu, Yingqian Huang +3
Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity.…
Lemon: A Unified and Scalable 3D Multimodal Model for Universal Spatial Understanding
Yongyuan Liang, Xiyao Wang, Yuanchen Ju +2
Scaling large multimodal models (LMMs) to 3D understanding poses unique challenges: point cloud data is sparse and irregular, existing models rely on fragmented architectures with…
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…
GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
Ziang Liu, Yuanchen Ju, Yu Da +6
Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical…