4 papers · 1 filter
UNCLE-Grasp: A Task-Adapted Framework for Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
Malak Mansour, Ali Abouzeid, Zezhou Sun +3
Robotic strawberry harvesting remains challenging under partial occlusion, where leaves obscure fruit geometry and make grasp decisions based on a single shape estimate unreliable.…
Latent Action Pretraining Through World Modeling
Bahey Tharwat, Yara Nasser, Ali Abouzeid +1
Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $π_…
GeoAware-VLA: Implicit Geometry Aware Vision-Language-Action Model
Ali Abouzeid, Malak Mansour, Qinbo Sun +2
Vision-Language-Action (VLA) models often fail to generalize to unseen camera viewpoints, a limitation stemming from their difficulty in inferring robust 3D geometry from 2D images…
A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting
Ali Abouzeid, Malak Mansour, Chengsong Hu +1
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesti…