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cs.RO2026
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3
Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and can struggle to follow precise natural language instructions that enco…
cs.RO2025
AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation
Anukriti Singh, Kasra Torshizi, Khuzema Habib +3
Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based…
cs.RO2025
Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches
Peihong Yu, Amisha Bhaskar, Anukriti Singh +2
Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning…