AntiGrounding is a visual action-selection framework that turns short robot trajectories into both executable motion plans and rendered prompts for vision‑language model evaluation. After filtering for feasibility, each trajectory is scored on safety, task alignment, efficiency, and physical plausibility using structured multi‑view visual question answering, and the best trajectories are refined and validated by a digital twin before real‑world execution. In eight real‑world manipulation tasks, the system achieved a 71.25% success rate with a single GPT‑6 Astra evaluator, outperforming baseline methods.
By Wenbo Li, Yiteng Chen, Wenhao Li, Qingyao Wu
arXiv:2607. 05396v1 Announce Type: cross Abstract: Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios.
By Wenhao Li, Xueying Jiang, Quanhao Qian, Deli Zhao, Shijian Lu, Gongjie Zhang, Ran Xu
arXiv:2608. 15284v1 Announce Type: cross Abstract: Navigation instruction generation from ego-centric RGB video in continuous environments is an important yet challenging task for human-robot interaction and scalable dataset construction.
By Haolin Yang, Yuxing Long, Zihan Yang, Hao Dong
arXiv:2606. 20118v1 Announce Type: cross Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or geometry deviates from the training distribution.
By Jonghoon Lee, Seong Hyeon Park, Byungwoo Jeon, Minha Lee, Jinwoo Shin
arXiv:2606. 28128v1 Announce Type: cross Abstract: Video generation models have emerged as a promising paradigm for embodied world simulation.
By Peiwen Zhang, Yufan Deng, Shangkun Sun, Juncheng Ma, Duomin Wang, Jonas Du, Zilin Pan, Ye Huang, Hao Liang, Songyan Huang, Ruihua Zhang, Enze Xie, Ming-Yu Liu, Daquan Zhou
arXiv:2609.37089v1 Announce Type: new
Abstract: Real-world videos provide rich demonstrations of manipulation, but turning them into reusable robot skills requires visually aligned environments, exec...
By Kerui Ren, Yingxiang Xu, Kaiwen Song, Linning Xu, Bo Dai, Mulin Yu, Tao Lu
Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios. Existing view-robust Vision-Language-Action (VLA) policies tolerate such camera variations only when the camera extrinsics are explicitly provided, making them fragile and hard to use especially when view robustness is critical.
Reconstructing dynamic and interactive 3D scenes from real-world observations remains a fundamental challenge in computer vision and robotics. While recent advances in 3D Gaussian Splatting have enabled high-fidelity static reconstruction, extending it to interactive environments with articulated robots and manipulable objects remains difficult due to complex contact interactions and abrupt pose changes.
The paper introduces 2AM, a system that keeps task memory solely within a multimodal Agent while using a single RGB‑based, stateless Action Model to execute motions. By compiling interaction history into subtask language and optional 2D grasp/place/move hints, the Agent steers the Action Model, which is trained to tolerate imperfect guidance through dropout, noise, and jitter. On the LIBERO‑Mem benchmark, 2AM achieves 76.3% average completion without depth, geometry, or planners, vastly outperforming the best baseline.
arXiv:2607. 04714v1 Announce Type: cross Abstract: Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-dimensional geometric transformations.
By Yunchao Zhang, Yijia Weng, Ruizhe Liu, Ming Hu, Leonidas Guibas, Yanchao Yang
arXiv:2609.36915v1 Announce Type: cross
Abstract: Aerial manipulators extend robotic manipulation into 3D workspaces that are difficult for ground-based robots to access, creating new opportunities f...
By Rui Huang, Yanlin Mu, Lidong Li, Yucong Wang, Zichen Yan, Lin Zhao
arXiv:2606. 03943v1 Announce Type: cross Abstract: Video-Action Models (VAMs) leverage the broad visual dynamics captured by pre-trained video diffusion models, offering a promising path toward generalizable robot manipulation.
By Mutian Tong, Han Jiang, Qiao Feng, Lingjie Liu, Jiatao Gu