ESCAPE combines spatio-temporal fusion mapping for depth-free 3D memory with a memory-driven grounding module and adaptive execution policy to reach 65.09% success on ALFRED test-seen long-horizon mobile manipulation tasks.
In: Proceedings of the IEEE/CVF conference on computer vision and pattern recognition
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VLMs caption real objects effectively but degrade on 3D-printed fakes in robotic scenes, while some standard metrics fail to detect the factual errors from this domain shift.
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ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation
ESCAPE combines spatio-temporal fusion mapping for depth-free 3D memory with a memory-driven grounding module and adaptive execution policy to reach 65.09% success on ALFRED test-seen long-horizon mobile manipulation tasks.
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Fake or Real, Can Robots Tell? Evaluating VLM Robustness to Domain Shift in Single-View Robotic Scene Understanding
VLMs caption real objects effectively but degrade on 3D-printed fakes in robotic scenes, while some standard metrics fail to detect the factual errors from this domain shift.