The main hypothesis was that a lightweight task-specific diffusion policy, explicitly grounded by a visual bounding-box prompt, could outperform text-only VLA prompting for fine-grained target selection, and that offline RL could further improve robustness beyond imitation learning (IL).
This paper presents VLEG, an embodied vision-language grasping framework for quadruped manipulators that explicitly incorporates body motion into grasp decision making and guides the robot to continuously adjust its body pose during approach and optimize local observations before grasping, thereby improving perception...
Yu-Xing Ji, Fei Meng, Zishang Ji et al.· Journal of Physics, Conferen...· 0 citations
The Global User Intent Dual-phase Estimation for Robots (GUIDER) is deployed on data collected from a robotic arm to test the manipulation phase across various assistance scenarios, including making tea and fetching medicine.
Nicholas Kenny, Cesar Alan Contreras, B. Ouedraogo et al.· 0 citations
DemoMimic (Dexterous Motion Mimic), a policy that manipulates objects by focusing on their geometry local to the contact points to improve sim-to-real consistency, yielding a single real-world policy that transfers across objects of varying shape, scale, mass, and friction wherever local contact structure is preserved.
Facet-0 unifies multimodal representation learning and reinforcement learning post-training around a joint action-wrench proposal, which reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline.
Hao-Yuan Deng, Hai-Chao Liu, Wen-Kai Guo et al.· 1 citation
A reinforcement learning-based framework for robotic grasp refinement, integrating keypoint-based object representations with a Deep Q-Network (DQN), is proposed, offering a scalable and adaptable solution for contact-rich manipulation tasks.
Amir Arsalan Nematollahi, Shayan Ahmadi, M. T. Masouleh et al.· 0 citations
This work proposes a search-based framework that is theoretically complete for grounding policy-generated multi-hand trajectories onto physical multi-arm systems, and explicitly searches over both the discrete assignment of trajectories to arms and the continuous Jacobian null spaces of redundant manipulators.
Yorai Shaoul, Jiao-Yang Li, Maxim Likhachev· Proceedings of the Internati...· 0 citations
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