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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.RO2025
Sim2Real Transfer for Vision-Based Grasp Verification
Pau Amargant, Peter Hönig, Markus Vincze
The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sen…
cs.RO2025
LLM-Empowered Embodied Agent for Memory-Augmented Task Planning in Household Robotics
Marc Glocker, Peter Hönig, Matthias Hirschmanner +1
We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task pl…