GSAM integrates vision perceiver, VLM refiner with CoT, LLM constraint generator, and kinematic planner to raise success rate by 36% and cut variance by 3.1% on 50 hinge tasks across 5 categories.
Frontiers of Computer Science (2024)
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GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
GSAM integrates vision perceiver, VLM refiner with CoT, LLM constraint generator, and kinematic planner to raise success rate by 36% and cut variance by 3.1% on 50 hinge tasks across 5 categories.