5 papers
MatterDoor: Sampling Zero-shot Spatio-semantic Priors using Generative Models
Subhransu S. Bhattacharjee, Hao Lu, Dylan Campbell +1
Autonomous robots often view rooms only partially, through a doorway, where the walls and scene structure hide the geometry and task-relevant semantics needed for safe navigation a…
SPACENUM: Revisiting Spatial Numerical Understanding in VLMs
Jianshu Zhang, Yijiang Li, Huifeixin Chen +4
Vision-Language Models (VLMs) are increasingly deployed in embodied environments, where they need produce numerical outputs such as action magnitudes and spatial coordinates. Altho…
Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement
Hao Lu, Rahul Shome
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on…
Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers
Hao Lu, Rahul Shome
Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem c…
NeuroMAS: Multi-Agent Systems as Neural Networks with Joint Reinforcement Learning
Haoran Lu, Luyang Fang, Wenxuan Zhong +1
Multi-agent language systems are often built as hand-designed workflows, where agents are assigned semantic roles and communication protocols are specified in advance. We propose N…