5 papers
Whole-Body Inverse Kinematics with Graph Diffusion
Helong Huang, Kai Tan, Feng Wen +2
Inverse kinematics (IK) is a fundamental problem in robotics, requiring the generation of joint configurations that satisfy target end-effector poses. Existing approaches often str…
ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
Shuoheng Zhang, Yifu Yuan, Hongyao Tang +7
Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge du…
GraphCoT-VLA: A 3D Spatial-Aware Reasoning Vision-Language-Action Model for Robotic Manipulation with Ambiguous Instructions
Helong Huang, Min Cen, Kai Tan +3
Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language in…
Ark: An Open-source Python-based Framework for Robot Learning
Magnus Dierking, Christopher E. Mower, Sarthak Das +10
Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind…
SpatialCoT: Advancing Spatial Reasoning through Coordinate Alignment and Chain-of-Thought for Embodied Task Planning
Yuecheng Liu, Dafeng Chi, Shiguang Wu +13
Spatial reasoning is an essential problem in embodied AI research. Efforts to enhance spatial reasoning abilities through supplementary spatial data and fine-tuning have proven lim…