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cs.RO2026
DeicticVLA: Unifying Instruction Modes Based on Language and Deictic Gestures in a Single VLA
Kango Yanagida, Tatsuya Aoki, Yuichiro Yoshikawa +1
Vision-Language-Action models (VLAs) allow users to specify manipulation tasks in natural language, but distinguishing a target or placement goal among objects of the same category…
cs.RO2026
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Siddharth Padmanabhan, Kazuki Miyazawa, Takato Horii
Achieving expert-level expressive full-body motion tracking across multiple humanoids solely from demonstration data remains a challenging and relatively an underexplored problem i…
cs.RO2026
SADP: Subgoal-Aware Diffusion Policy for Long-Horizon Manipulation Learned from Foundation Model Generated Demonstrations
Site Hu, Takato Horii
Long-horizon robot manipulation requires policies to coordinate multiple intermediate subgoals and determine when to advance between them. However, most imitation learning methods…