5 papers
Mixture of Horizons in Action Chunking
Dong Jing, Gang Wang, Jiaqi Liu +7
Vision-language-action (VLA) models have shown remarkable capabilities in robotic manipulation, but their performance is sensitive to the used during…
CollaBot: Vision-Language Guided Simultaneous Collaborative Manipulation
Kun Song, Gaoming Chen, Shentao Ma +5
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects…
One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation
Zhenyu Wei, Yunchao Yao, Mingyu Ding
Dexterous manipulation policies today largely assume fixed hand designs, severely restricting their generalization to new embodiments with varied kinematic and structural layouts.…
LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies
Yue Yang, Shuo Cheng, Yu Fang +4
General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured…
Rethinking Intermediate Representation for VLM-based Robot Manipulation
Weiliang Tang, Jialin Gao, Jia-Hui Pan +6
Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate repr…