5 papers
VLAConf: Calibrated Task-Success Confidence for Vision-Language-Action Models
Dehao Huang, Aoxiang Gu, Chengjie Zhang +5
Task-success confidence estimation for Vision-Language-Action (VLA) models provides a crucial task-level signal for monitoring manipulation in open-world environments and supportin…
CoCoReviewBench: A Completeness- and Correctness-Oriented Benchmark for AI Reviewers
Hexuan Deng, Xiaopeng Ke, Yichen Li +6
Despite the rapid development of AI reviewers, evaluating such systems remains challenging: metrics favor overlap with human reviews over correctness. However, since human reviews…
Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via Assistant Experts
Chengjie Zhang, Chao Tang, Wenlong Dong +3
Interactive Imitation Learning (IIL) typically relies on extensive human involvement for both offline demonstration and online interaction. Prior work primarily focuses on reducing…
HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Models
Dehao Huang, Wenlong Dong, Chao Tang +1
Task-oriented grasping (TOG) is essential for robots to perform manipulation tasks, requiring grasps that are both stable and compliant with task-specific constraints. Humans natur…
FoundationGrasp: Generalizable Task-Oriented Grasping with Foundation Models
Chao Tang, Dehao Huang, Wenlong Dong +2
Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone t…