4 papers · 1 filter
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…
Towards simulation-based optimization of compliant fingers for high-speed connector assembly
Richard Matthias Hartisch, Alexander Rother, Jörg Krüger +1
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft…
Anomaly detection for generic failure monitoring in robotic assembly, screwing and manipulation
Niklas Grambow, Lisa-Marie Fenner, Felipe Kempkes +4
Out-of-distribution states in robot manipulation often lead to unpredictable robot behavior or task failure, limiting success rates and increasing risk of damage. Anomaly detection…