4 papers · 2 filters
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…
ST4VLA: Spatially Guided Training for Vision-Language-Action Models
Jinhui Ye, Fangjing Wang, Ning Gao +9
Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor ac…
ActiveVLA: Injecting Active Perception into Vision-Language-Action Models for Precise 3D Robotic Manipulation
Zhenyang Liu, Yongchong Gu, Yikai Wang +2
Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action pr…
DST-Calib: A Dual-Path, Self-Supervised, Target-Free LiDAR-Camera Extrinsic Calibration Network
Zhiwei Huang, Yanwei Fu, Yi Zhou +3
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration ta…