4 papers
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Dichen Li, Bo Ai, Nico Bohlinger +3
Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. W…
Event-Driven Proactive Assistive Manipulation with Grounded Vision-Language Planning
Fengkai Liu, Hao Su, Haozhuang Chi +6
Assistance in collaborative manipulation is often initiated by user instructions, making high-level reasoning request-driven. In fluent human teamwork, however, partners often infe…
SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation
Ruisen Tu, Arth Shukla, Sohyun Yoo +5
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning…
Enhancing Generalization in Vision-Language-Action Models by Preserving Pretrained Representations
Shresth Grover, Akshay Gopalkrishnan, Bo Ai +3
Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across di…