6 papers
Lang2Lift: A Language-Guided Autonomous Forklift System for Outdoor Industrial Pallet Handling
Huy Hoang Nguyen, Johannes Huemer, Markus Murschitz +3
Automating pallet handling in outdoor logistics and construction environments remains challenging due to unstructured scenes, variable pallet configurations, and changing environme…
Action Tokenizer Matters in In-Context Imitation Learning
An Dinh Vuong, Minh Nhat Vu, Dong An +1
In-context imitation learning (ICIL) is a new paradigm that enables robots to generalize from demonstrations to unseen tasks without retraining. A well-structured action representa…
Improving Robotic Manipulation with Efficient Geometry-Aware Vision Encoder
An Dinh Vuong, Minh Nhat Vu, Ian Reid
Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-…
Generating Actionable Robot Knowledge Bases by Combining 3D Scene Graphs with Robot Ontologies
Giang Nguyen, Mihai Pomarlan, Sascha Jongebloed +3
In robotics, the effective integration of environmental data into actionable knowledge remains a significant challenge due to the variety and incompatibility of data formats common…
Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework
Hemjyoti Das, Minh Nhat Vu, Christian Ott
In this work, we present a novel approach to augment a model-based control method with a reinforcement learning (RL) agent and demonstrate a swing-up maneuver with a suspended aeri…
ReFineVLA: Reasoning-Aware Teacher-Guided Transfer Fine-Tuning
Tuan Van Vo, Tan Quang Nguyen, Khang Minh Nguyen +2
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructi…