From the 1 of 6 linked papers with an AI index.
6 papers
Explicit Kinematic Guidance from Analytic Concepts for Vision-Language-Action Models
Mingyang Sun, Jiude Wei, Xiujian Liang +4
The paper introduces a Concept Expert module that extracts 3D kinematic and structural information to create Analytic Concepts, providing explicit guidance for Vision-Language-Acti…
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
Mingyang Sun, Xiujian Liang, Jiude Wei +4
Long-horizon embodied manipulation requires agents to remember persistent objects, track changing scene states, and reuse prior interaction knowledge. However, existing agent memor…
Physically Ground Commonsense Knowledge for Articulated Object Manipulation with Analytic Concepts
Jiude Wei, Yuxuan Li, Cewu Lu +1
We humans rely on a wide range of commonsense knowledge to interact with an extensive number and categories of objects in the physical world. Likewise, such commonsense knowledge i…
Executable Analytic Concepts as the Missing Link Between VLM Insight and Precise Manipulation
Mingyang Sun, Jiude Wei, Qichen He +3
Enabling robots to perform precise and generalized manipulation in unstructured environments remains a fundamental challenge in embodied AI. While Vision-Language Models (VLMs) hav…
Arti-PG: A Toolbox for Procedurally Synthesizing Large-Scale and Diverse Articulated Objects with Rich Annotations
Jianhua Sun, Yuxuan Li, Jiude Wei +4
The acquisition of substantial volumes of 3D articulated object data is expensive and time-consuming, and consequently the scarcity of 3D articulated object data becomes an obstacl…
ConceptFactory: Facilitate 3D Object Knowledge Annotation with Object Conceptualization
Jianhua Sun, Yuxuan Li, Longfei Xu +4
We present ConceptFactory, a novel scope to facilitate more efficient annotation of 3D object knowledge by recognizing 3D objects through generalized concepts (i.e. object conceptu…