11 papers
WeaveLA: Event Driven Cross-Subtask Latent Memory Weaving for Repetitive Robot Manipulation
Shoujing Zhu, Zhenyang Liu, Fungmiu Wang +6
Vision-Language-Action (VLA) policies have achieved remarkable single-step manipulation, yet they remain brittle precisely where each stage depends on what was just completed. The…
OFlow: Injecting Object-Aware Temporal Flow Matching for Robust Robotic Manipulation
Kuanning Wang, Ke Fan, Chenhao Qiu +5
Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models…
V-SAM: Marrying SAM2 with Multi-Prompt Experts for Cross-View Object Correspondence
Jiancheng Pan, Runze Wang, Tianwen Qian +7
Cross-view object correspondence, exemplified by the representative task of ego-exo object correspondence, aims to establish consistent associations of the same object across diffe…
OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-to-Robot Action Transfer
Kuanning Wang, Ke Fan, Yuqian Fu +6
We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Obje…
TP-MDDN: Task-Preferenced Multi-Demand-Driven Navigation with Autonomous Decision-Making
Shanshan Li, Da Huang, Yu He +3
In daily life, people often move through spaces to find objects that meet their needs, posing a key challenge in embodied AI. Traditional Demand-Driven Navigation (DDN) handles one…
Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single View
Jinyu Zhang, Haitao Lin, Jiashu Hou +2
Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Exis…