Extending Vision-Language-Action models (VLAs) to humanoid robots requires coordinated whole-body control and diverse demonstrations that are costly to collect in real-world scenarios. Although egocentric human demonstrations provide a complementary source of task experience, differences in visual embodiment and missin...
Yang Liu, Jia-Cheng Liu, Heng-Tao Li et al.· 0 citations
A Concept Expert module is constructed for VLA to build executable Analytic Concepts that represent objects as explicit, programmatic blueprints that provide explicit, high-quality guidance for VLA fine-tuning through dense, programmatic manipulation rewards and precise spatial guidance.
GRACE is pro-posed, an agent framework that adopts Executable Analytic Concepts (EAC) as a core knowledge annotation paradigm for object understanding and supports automated concept discovery, offering a scalable and modular solution for high-precision embodied intelligence.
Mingyang Sun, Jiu-De Wei, Qi-Chen He et al.· Proceedings of the Thirty-Fi...· 0 citations
This work proposes an analytic concept-centric memory framework for agentic embodied manipulation that improves task completion, retrieval accuracy, object re-identification, and cross-object skill generalization over unstructured and embedding-based memory baselines.
