5 papers
Learning Geometrically-Grounded 3D Visual Representations for View-Generalizable Robotic Manipulation
Di Zhang, Weicheng Duan, Dasen Gu +5
Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent a…
Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting
Pierrick Lorang, Hong Lu, Johannes Huemer +2
Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large d…
Industrial Robot Motion Planning with GPUs: Integration of cuRobo for Extended DOF Systems
Luai Abuelsamen, Harsh Rana, Ho-Wei Lu +3
Efficient motion planning remains a key challenge in industrial robotics, especially for multi-axis systems operating in complex environments. This paper addresses that challenge b…
Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation
Pierrick Lorang, Hong Lu, Matthias Scheutz
Adapting quickly to dynamic, uncertain environments-often called "open worlds"-remains a major challenge in robotics. Traditional Task and Motion Planning (TAMP) approaches struggl…
Probing a Vision-Language-Action Model for Symbolic States and Integration into a Cognitive Architecture
Hong Lu, Hengxu Li, Prithviraj Singh Shahani +2
Vision-language-action (VLA) models hold promise as generalist robotics solutions by translating visual and linguistic inputs into robot actions, yet they lack reliability due to t…