Author

Anh Nguyen

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Preprint Aug 2026

Gripper-aware Vision Language Action Models

This work introduces MiGA, a multi-gripper-aware dataset spanning five distinct gripper types across multiple robots with 103,000 demonstrations, and proposes GVLA, which combines a new multi-gripper tokenizer with adapter-based policy routing that improves zero-shot generalization or few-shot adaptation to new objects...

Hanyi Zhang, Zihong Luo, Tianyu Li et al. · 1 citation

Jul 2026

Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

GCA-Bench is proposed, a benchmark featuring challenging grasping with complex action scenarios that involve both scene-level reasoning and semantic constraints and enables the evaluation of recent large foundation models under the same settings.

Hanyi Zhang, Khang Nguyen, Charith Munasinghe et al. · arXiv.org · 0 citations