4 papers
HomeLoop: A Simulation Framework and Benchmark for Robot-IoT Coordination in Everyday Domestic Assistance and Safety
Ramy ElMallah, Marc Bishara, Hyegang Kim +3
Recent progress in embodied robotics is bringing robots closer to deployment in homes, as vision-language models (VLMs) are demonstrating significant advances in reasoning, making…
Generalists Act, Specialists Intervene: Modular Stage-Selective Reinforcement Learning for Vision-Language-Action Manipulation
Chongyu Zhu, Jaden Hinds, Hyegang Kim +3
Vision-language-action (VLA) models often struggle in the precision-critical phases of multi-stage manipulation tasks. To mitigate this issue, VLA models can be used in conjunction…
WireCraft: A Simulation Benchmark for Industrial DLO Manipulation
Chongyu Zhu, Ramy ElMallah, Hyegang Kim +5
Deformable Linear Objects (DLOs), such as wires and cables, are central to industrial assembly. Unlike rigid objects, whose state is captured by a 6-DoF pose, DLOs have an infinite…
Score the Steps, Not Just the Goal: VLM-Based Subgoal Evaluation for Robotic Manipulation
Ramy ElMallah, Krish Chhajer, Chi-Guhn Lee
Robot learning papers typically report a single binary success rate (SR), which obscures where a policy succeeds or fails along a multi-step manipulation task. We argue that subgoa…