15 papers
Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads
Manh Cuong Nguyen, Duc Cuong Vu, Viet Anh Vu +5
Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-…
Real-Time Conformal-Seeded Hybrid Inverse Kinematics for Offset Redundant Manipulators
Duc Cuong Vu, Van Tung Nguyen, Duc Hai Nguyen +3
This paper presents a conformal-seeded hybrid strategy for solving inverse kinematics of offset, redundant 7-DoF robot arms of the humanoid class. Analytical inverse kinematics (AI…
GloVLA: Let Geometry Move and Local VLA Interact for Robust Object-Centric Manipulation in Unstructured Environments
Truong Thanh Nguyen, Huy Hoang Nguyen, Ha Anh Nguyen +5
Vision-language-action (VLA) models have shown promising generalization for language-conditioned robot manipulation, but deploying them in unstructured environments remains challen…
Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think
Gia-Binh Nguyen, Trong-Bao Ho, Thien-Loc Ha +18
Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic manipulation, yet their multi-billion parameter architectures impose pro…
FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation
Duc Minh Nguyen, Nghiem Tuong Diep, Binh Gia Nguyen +20
Vision-Language-Action (VLA) models enable general-purpose robotic control via large-scale multimodal pretraining, yet their effectiveness under few-shot imitation learning remains…
EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models
Thien-Loc Ha, Quang-Tan Nguyen, Trong-Bao Ho +8
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet they lack geometric inductive biases: policies trained at specific or…
Start Right, Arrive Right: Asynchronous Execution via Initial Noise Selection
Trong-Bao Ho, Quang-Tan Nguyen, Thien-Loc Ha +7
Action chunking enables robot policies to produce temporally coherent behavior, but generating multi-step action sequences with flow-based policies incurs latency that is incompati…
Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection
Minh Nhat Vu, Khang Nguyen, Vu Trung Tran +1
We present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Unlike modular pipelines that f…
Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing
Duc Minh Nguyen, Bao-Ngoc Dao, Tung M. Luu +15
Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but remain sensitive to spurious visual correlations and noisy action ge…
ReFineVLA: Multimodal Reasoning-Aware Generalist Robotic Policies via Teacher-Guided Fine-Tuning
Tuan Van Vo, Tan Q. Nguyen, Khang Nguyen +5
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructi…
XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges
Khang Nguyen, Minh Nhat Vu
Generative robotic motion planning requires not only the synthesis of smooth and collision-free trajectories but also feasibility across diverse tasks and dynamic constraints. Prio…
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
Khang Nguyen, An T. Le, Jan Peters +1
Achieving robust robot learning for humanoid locomotion is a fundamental challenge in model-based reinforcement learning (MBRL), where environmental stochasticity and randomness ca…
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion
Khang Nguyen, Khai Nguyen, An T. Le +4
Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics…
Model Tensor Planning
An T. Le, Khai Nguyen, Minh Nhat Vu +2
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy s…
FlowMP: Learning Motion Fields for Robot Planning with Conditional Flow Matching
Khang Nguyen, An T. Le, Tien Pham +3
Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capt…