3 papers
cs.RO2026
NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planning
Jiahui Fu, Junyu Nan, Lingfeng Sun +5
Solving long-horizon tasks requires robots to integrate high-level semantic reasoning with low-level physical interaction. While vision-language models (VLMs) and video generation…
cs.RO2025
SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu +3
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently…
cs.RO2025
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…