4 papers
Enhancing Interpretability and Interactivity in Robot Manipulation: A Neurosymbolic Approach
Georgios Tziafas, Hamidreza Kasaei
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unco…
3D Feature Distillation with Object-Centric Priors
Georgios Tziafas, Yucheng Xu, Zhibin Li +1
Grounding natural language to the physical world is a ubiquitous topic with a wide range of applications in computer vision and robotics. Recently, 2D vision-language models such a…
Towards Open-World Grasping with Large Vision-Language Models
Georgios Tziafas, Hamidreza Kasaei
The ability to grasp objects in-the-wild from open-ended language instructions constitutes a fundamental challenge in robotics. An open-world grasping system should be able to comb…
Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models
Georgios Tziafas, Hamidreza Kasaei
Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of visi…