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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Scalable, Training-Free Visual Language Robotics: A Modul...
Marie Samson, Bastien Muraccioli, Fumio Kanehiro · 2025-02-03 · via cs.RO updates on arXiv.org

The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for extensive retraining, and limited scalability, making them less accessible for widespread use. In this paper, we introduce SVLR (Scalable Visual Language Robotics), an open-source, modular framework that operates without the need for retraining, providing a scalable solution for robotic control. SVLR leverages a combination of lightweight, open-source AI models including the Vision-Language Model (VLM) Mini-InternVL, zero-shot image segmentation model CLIPSeg, Large Language Model Phi-3, and sentence similarity model all-MiniLM to process visual and language inputs. These models work together to identify objects in an unknown environment, use them as parameters for task execution, and generate a sequence of actions in response to natural language instructions. A key strength of SVLR is its scalability. The framework allows for easy integration of new robotic tasks and robots by simply adding text descriptions and task definitions, without the need for retraining. This modularity ensures that SVLR can continuously adapt to the latest advancements in AI technologies and support a wide range of robots and tasks. SVLR operates effectively on an NVIDIA RTX 2070 (mobile) GPU, demonstrating promising performance in executing pick-and-place tasks. While these initial results are encouraging, further evaluation across a broader set of tasks and comparisons with existing VLA models are needed to assess SVLR's generalization capabilities and performance in more complex scenarios.