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cs.RO2025
OG-VLA: Orthographic Image Generation for 3D-Aware Vision-Language Action Model
Ishika Singh, Ankit Goyal, Stan Birchfield +3
We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware…
cs.RO2024
Fast Explicit-Input Assistance for Teleoperation in Clutter
Nick Walker, Xuning Yang, Animesh Garg +3
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor pre…
cs.RO2024
AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent
Tongzhou Mu, Yijie Guo, Jie Xu +4
Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datas…