4 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…
RealDiff: Bridging Real-World Gap in Robot Manipulation via Depth Diffusion
Xiujian Liang, Jiacheng Liu, Mingyang Sun +3
Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise pat…
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…