8 papers
VULCAN: Vision-Language-Model Enhanced Multi-Agent Cooperative Navigation for Indoor Fire-Disaster Response
Shengding Liu, Qiben Yan
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-criti…
CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation
Heng Zhang, Wei-Hsing Huang, Qiyi Tong +7
We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance…
VORL-EXPLORE: A Hybrid Learning Planning Approach to Multi-Robot Exploration in Dynamic Environments
Ning Liu, Sen Shen, Zheng Li +4
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the…
ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation
Sheng Liu, Zhe Li, Weiheng Wang +6
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fix…
FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulation
Yanjia Huang, Shuo Liu, Sheng Liu +4
Long-horizon robot manipulation tasks remain challenging for Vision-Language-Action (VLA) policies due to drift and exposure bias, often denoise the entire trajectory with fixed hy…
VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility
Yitian Shi, Di Wen, Guanqi Chen +5
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveragi…