6 papers
AgenticTactileVLA: Contact-Guided Execution-Time Supervision for Generalizable Dexterous Manipulation without VLA Retraining
Elizaveta Semenyakina, Ivan Snegirev, Mikhail Kiselev +4
Vision-language-action policies may predict a transferable manipulation strategy yet fail to realize it reliably on the encountered object: objects compatible with the same grasp d…
Kintsugi-VLA: Turning Failed Robot Rollouts into Recovery Data through Interventional Recoverability
Ivan Snegirev, Elizaveta Semenyakina, Dmitrii Maliukov +2
Simulation enables scalable training of Vision-Language-Action policies by using privileged experts to generate visual demonstrations without requiring every trajectory to be colle…
UltraArUco: A Lightweight Multilingual Library And Framework With Low-Latency Real-Time Marker-Based Tracking System For Mobile AR Interaction
Mikhail Kiselev, Aleksandr Marukhin, Ivan Snegirev +3
UltraArUco is a lightweight multilingual library and framework for low latency, realtime marker-based tracking in mobile augmented reality. Unlike standard OpenCV-based implementat…
ORCESTRA: VLM-driven Visual Robot programming in Mixed Reality
Ivan Snegirev, Elizaveta Semenyakina, Mikhail Konenkov +3
ORCESTRA is a mixed-reality system for programming robot digital twins through no-code waypoint teaching and language-guided control. In a passthrough mixed-reality workspace, user…
GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps
Elizaveta Semenyakina, Ivan Snegirev, Mariya Lezina +3
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanica…
Glove2UAV: A Wearable IMU-Based Glove for Intuitive Control of UAV
Amir Habel, Ivan Snegirev, Elizaveta Semenyakina +6
This paper presents Glove2UAV, a wearable IMU-glove interface for intuitive UAV control through hand and finger gestures, augmented with vibrotactile warnings for exceeding predefi…