Author

Yan Wu

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Preprint Oct 2026

JARVIS: From Visual Manuals to Autonomous Robotic Assembly

Visual manuals communicate procedural knowledge through stepwise diagrams, but translating these instructions into reliable long-horizon robotic execution remains challenging. We introduce JARVIS, a method-agnostic benchmark for autonomous visual-manual-guided execution without additional language instructions. JARVIS...

Fan Ding, Fu-Cai Ke, K. Ma et al. · 0 citations

Jul 2026

VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation

This work presents VistaVLA, a novel two-stage framework that constructs a geometry- and semantics-aware 3D cognitive representation from 3D Gaussian primitives and grounds it as compact context tokens for VLA policy learning, and introduces Merge-then-Query (MtQ), a token summarization mechanism.

Mo-Han Liu, Zhihao Gu, Xuanyu Chen et al. · arXiv.org · 0 citations

Preprint Aug 2026

MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping

MANGO-Grasp is proposed, an anisotropic interaction framework that represents objects as geometry-oriented 3D Gaussian primitives and robot hands as surface keypoints encoded into morpho-kinematic descriptors and achieves 86% success in real-world experiments.

Heng Zhang, K. Ma, M. Shou et al. · 0 citations