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cs.RO2026
Per-Group Error, Not Total MSE: Fine-Tuning Vision-Language-Action Models for 11-DoF Mobile Manipulation
Pau Montagut Bofi, Mario GarcÃa Blasco, Tessa Pulli +1
Fine-tuning Vision-Language-Action (VLA) models for mobile manipulators with heterogeneous joint spaces can produce a counterintuitive result: the checkpoint with the lowest aggreg…
cs.RO2026
Hierarchical Prompting with Dual LLM Modules for Robotic Task and Motion Planning
Karolina Źróbek, Tessa Pulli, PaweŠGajewski +2
We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios.…