4 papers
AnyGoal: Vision-Language Guided Multi-Agent Exploration for Training-Free Lifelong Navigation
MoniJesu James, Marcelino Julio Fernando, Miguel Altamirano Cabrera +1
End-to-end navigation policies trained on large simulation corpora degrade sharply when transferred to out-of-distribution scenes, categories, or goal modalities. Modular pipelines…
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…
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
Konstantin Gubernatorov, Mikhail Sannikov, Ilya Mikhalchuk +8
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on de…
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…