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cs.RO2026
Learning Keypoint Constraints from Visual Demonstrations for Safe Motion Planning
Zheng Qiu, Zhouyu Zhang, Ninghan Zhong +1
We present Keypoint Constraint Learning (KCL), a framework for learning task-relevant motion constraints from visual demonstrations and for planning safely with the extracted const…
cs.RO2026
GT-VLA: Target-Conditioned Trace Guidance for Generalizable Robotic Manipulation
Ninghan Zhong, Jing-Chen Peng, Sriram Vishwanath
Vision-Language-Action (VLA) models have shown strong performance on robotic manipulation, but they often struggle to generalize to unseen tasks, configurations, and long-horizon s…