6 papers · 1 filter
Improving Robotic Manipulation with Efficient Geometry-Aware Vision Encoder
An Dinh Vuong, Minh Nhat Vu, Ian Reid
Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-…
Lang2Lift: A Language-Guided Autonomous Forklift System for Outdoor Industrial Pallet Handling
Huy Hoang Nguyen, Johannes Huemer, Markus Murschitz +3
Automating pallet handling in outdoor logistics and construction environments remains challenging due to unstructured scenes, variable pallet configurations, and changing environme…
Generating Actionable Robot Knowledge Bases by Combining 3D Scene Graphs with Robot Ontologies
Giang Nguyen, Mihai Pomarlan, Sascha Jongebloed +3
In robotics, the effective integration of environmental data into actionable knowledge remains a significant challenge due to the variety and incompatibility of data formats common…
Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework
Hemjyoti Das, Minh Nhat Vu, Christian Ott
In this work, we present a novel approach to augment a model-based control method with a reinforcement learning (RL) agent and demonstrate a swing-up maneuver with a suspended aeri…
ReFineVLA: Reasoning-Aware Teacher-Guided Transfer Fine-Tuning
Tuan Van Vo, Tan Quang Nguyen, Khang Minh Nguyen +2
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructi…
Action Tokenizer Matters in In-Context Imitation Learning
An Dinh Vuong, Minh Nhat Vu, Dong An +1
In-context imitation learning (ICIL) is a new paradigm that enables robots to generalize from demonstrations to unseen tasks without retraining. A well-structured action representa…