5 papers
What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies
Vivek Chavan, Pengtao Xie, Yahuan Shi +3
Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study th…
Towards Neuro-Symbolic Procedural Reasoning for Long-Horizon Vision-Language-Action Manipulation
Vivek Chavan, Yahuan Shi, Oliver Heimann +2
Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon procedures requiring persistent task state, dependency-aware reasoning…
IndEgo: A Dataset of Industrial Scenarios and Collaborative Work for Egocentric Assistants
Vivek Chavan, Yasmina Imgrund, Tung Dao +5
We introduce IndEgo, a multimodal egocentric and exocentric dataset addressing common industrial tasks, including assembly/disassembly, logistics and organisation, inspection and r…
Physical Annotation for Automated Optical Inspection: A Concept for In-Situ, Pointer-Based Training Data Generation
Oliver Krumpek, Oliver Heimann, Jörg Krüger
This paper introduces a novel physical annotation system designed to generate training data for automated optical inspection. The system uses pointer-based in-situ interaction to t…
On the Application of Egocentric Computer Vision to Industrial Scenarios
Vivek Chavan, Oliver Heimann, Jörg Krüger
Egocentric vision aims to capture and analyse the world from the first-person perspective. We explore the possibilities for egocentric wearable devices to improve and enhance indus…