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cs.RO2025
GraphCoT-VLA: A 3D Spatial-Aware Reasoning Vision-Language-Action Model for Robotic Manipulation with Ambiguous Instructions
Helong Huang, Min Cen, Kai Tan +3
Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language in…
cs.RO2025
Plug-and-Play Physics-informed Learning using Uncertainty Quantified Port-Hamiltonian Models
Kaiyuan Tan, Peilun Li, Jun Wang +1
The ability to predict trajectories of surrounding agents and obstacles is a crucial component in many robotic applications. Data-driven approaches are commonly adopted for state p…
cs.RO2023
Mission-driven Exploration for Accelerated Deep Reinforcement Learning with Temporal Logic Task Specifications
Jun Wang, Hosein Hasanbeig, Kaiyuan Tan +2
This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recen…