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cs.RO2026
Spatially Grounded Long-Horizon Task Planning in the Wild
Sehun Jung, HyunJee Song, Dong-Hee Kim +4
Recent advances in robot manipulation increasingly leverage Vision-Language Models (VLMs) for high-level reasoning, such as decomposing task instructions into sequential action pla…
cs.RO2024
Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks
Jianfeng Gao, Xiaoshu Jin, Franziska Krebs +2
Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in comput…
cs.RO2024
Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement
Yichen Cai, Jianfeng Gao, Christoph Pohl +1
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partia…