4 papers
KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos
Zhiyuan Gao, Yanxiang Zhan, Mohammad Khoshnazar +2
Learning robot manipulation policies typically requires substantial demonstration data, which are costly to collect on real robots. Recent methods generate robot demonstrations fro…
FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models
Zhiyuan Gao, Di Wen, Yanxiang Zhan +4
Vision-language-action (VLA) models built on pretrained vision-language models have demonstrated strong performance across diverse robotic manipulation tasks. However, VLA models t…
LLM-Guided Future Hypotheses for Horizon-Aware Exploration in Multi-Step Robot Manipulation
Mohammad Khoshnazar, Andrew Melnik, Michael Beetz
Multi-step robot manipulation requires acting under uncertainty about how the scene will evolve, making exploration and policy adaptation challenging. We study whether short-horizo…
A Survey on Reinforcement Learning Applications in SLAM
Mohammad Dehghani Tezerjani, Mohammad Khoshnazar, Mohammadhamed Tangestanizadeh +2
Simultaneous localization and mapping (SLAM) allows a mobile robot or autonomous vehicle to build a map of an unknown environment while estimating its own pose within that map. Rei…