4 papers
Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang +4
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex…
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…
Seg the HAB: Language-Guided Geospatial Algae Bloom Reasoning and Segmentation
Patterson Hsieh, Jerry Yeh, Mao-Chi He +2
Climate change is intensifying the occurrence of harmful algal bloom (HAB), particularly cyanobacteria, which threaten aquatic ecosystems and human health through oxygen depletion,…
Do What? Teaching Vision-Language-Action Models to Reject the Impossible
Wen-Han Hsieh, Elvis Hsieh, Dantong Niu +3
Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions p…