arXiv:2606. 12910v1 Announce Type: cross Abstract: For robotics to be effectively integrated into household or industrial environments, machines must adapt to natural-language prompts in real time.
By Allison Andreyev, Landon Eum, Nestor Tiglao, Romel Gomez
arXiv:2607. 17757v1 Announce Type: cross Abstract: Current bin picking methods that rely heavily on end-to-end learning often falter when confronted with unfamiliar or complex objects in unstructured environments.
By Hye-Jung Yoon, Juno Kim, Yesol Park, Jun-Ki Lee, Byoung-Tak Zhang
arXiv:2606.17446v2 Announce Type: replace-cross
Abstract: Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical k...
By Haoran Lu, Mutian Shen, Shuyang Yu, Yu Xiao, Songling Liu, Jianshu Zhang, Shang Wu, Yue Chen, Guo Ye, Jiayi Wang, Zhaoran Wang, Han Liu
arXiv:2608. 00946v1 Announce Type: cross Abstract: Existing 6-DoF grasp detectors typically rank grasp candidates by detector confidence.
By Jibao Yuan, Yuhui Zhao, Yinzhen Lv, Chao Xu, Shun Li, Chenxi Deng, Shaofei Chen
HiWE is a hierarchical world knowledge model that enables zero‑shot 3D path planning by linking visual grounding with language‑based planning through a point‑based interface. It uses PointVLM to map task‑relevant objects to image coordinates, lifts these predictions into a semantic 3D representation with depth data, and then a language planner (3DLLM) generates end‑effector waypoints and gripper commands. The system is evaluated on 14 simulated manipulation tasks and four physical‑robot tasks, with ablations on visual training data, spatial inputs, and grasp selection.
By Guoqing Ma, Mingqi Yuan, Chen Gao, Jiayu Chen, Shan Yu
arXiv:2606. 31200v1 Announce Type: new Abstract: Generalizable robotic grasping in cluttered environments is essential for deploying manipulators in unstructured human spaces, yet existing VLM-based methods rely on visual similarity for object matching, neglecting physical affordances such as handle graspability and material fragility, and operate open-loop without spatial reasoning or failure recovery, limiting their effectiveness when objects are densely packed or physically diverse.
By Tao Chen, Lizheng Liu, Jiaxu Wang, Ziyue Jiang, Ruiqi Tian, JiGuang Huo, Zhongxue Gan