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cs.RO2026
MAST-VLA: Skill-Conditioned Adaptation with Trajectory-Affordance Priors for Multi-Skill Robot Manipulation
Jiachi Yang, Zhiyi Xu, Hongquan Zhang +4
Generalist robot manipulation requires a single vision-language-action (VLA) policy to execute diverse skills across scenes and instructions. However, current multi-skill VLA polic…
cs.RO2026
Zero-Shot Robotic Manipulation via 3D Gaussian Splatting-Enhanced Multimodal Retrieval-Augmented Generation
Zilong Xie, Jingyu Gong, Xin Tan +2
Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal L…