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cs.RO2026
Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation
Tzu-Jung Lin, Jia-Fong Yeh, Hung-Ting Su +3
In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to…
cs.RO2025
VICtoR: Learning Hierarchical Vision-Instruction Correlation Rewards for Long-horizon Manipulation
Kuo-Han Hung, Pang-Chi Lo, Jia-Fong Yeh +3
We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) pro…
cs.RO2024
AED: Adaptable Error Detection for Few-shot Imitation Policy
Jia-Fong Yeh, Kuo-Han Hung, Pang-Chi Lo +5
We introduce a new task called Adaptable Error Detection (AED), which aims to identify behavior errors in few-shot imitation (FSI) policies based on visual observations in novel en…