11 papers
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning
Iaroslav Kolomiets, Miguel Altamirano Cabrera, Artem Lykov +6
Human egocentric video is a scalable supervision source for humanoid policy learning, but current pipelines struggle with hand-object occlusion, oversimplified motion, or specializ…
Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion
Jeffrin Sam, Nguyen Khang, Yara Mahmoud +2
We present Action Agent, a two-stage framework that unifies agentic navigation video generation with flow-constrained diffusion control for multi-embodiment robot navigation. In St…
GenerativeMPC: VLM-RAG-guided Whole-Body MPC with Virtual Impedance for Bimanual Mobile Manipulation
Marcelino Julio Fernando, Miguel Altamirano Cabrera, Jeffrin Sam +3
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models app…
DiffusionAnything: End-to-End In-context Diffusion Learning for Unified Navigation and Pre-Grasp Motion
Iana Zhura, Yara Mahmoud, Jeffrin Sam +4
Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specifi…
HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation
Yara Mahmoud, Yasheerah Yaqoot, Miguel Altamirano Cabrera +1
Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper intr…
SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
Yara Mahmoud, Jeffrin Sam, Nguyen Khang +6
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximit…
PhysicalAgent: Towards General Cognitive Robotics with Foundation World Models
Artem Lykov, Jeffrin Sam, Hung Khang Nguyen +6
We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a…
VLH: Vision-Language-Haptics Foundation Model
Luis Francisco Moreno Fuentes, Muhammad Haris Khan, Miguel Altamirano Cabrera +5
We present VLH, a novel Visual-Language-Haptic Foundation Model that unifies perception, language, and tactile feedback in aerial robotics and virtual reality. Unlike prior work th…
FlyHaptics: Flying Multi-contact Haptic Interface
Luis Moreno, Miguel Altamirano Cabrera, Muhammad Haris Khan +4
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweig…
HapticVLM: VLM-Driven Texture Recognition Aimed at Intelligent Haptic Interaction
Muhammad Haris Khan, Miguel Altamirano Cabrera, Dmitrii Iarchuk +4
This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM…
LLM-Glasses: GenAI-driven Glasses with Haptic Feedback for Navigation of Visually Impaired People
Issatay Tokmurziyev, Miguel Altamirano Cabrera, Muhammad Haris Khan +2
LLM-Glasses is a wearable navigation system which assists visually impaired people by utilizing YOLO-World object detection, GPT-4o-based reasoning, and haptic feedback for real-ti…