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cs.RO2025
Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
Kechun Xu, Zhenjie Zhu, Anzhe Chen +7
The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone du…
cs.CV2025
Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactions
He Zhu, Quyu Kong, Kechun Xu +5
Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, f…
cs.RO2025
Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter
Kechun Xu, Xunlong Xia, Kaixuan Wang +6
We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches le…