A modular framework using FastSAM with Set-of-Mark prompting, an LLM as semantic router, and MoveIt Task Constructor achieves 62% end-to-end success in zero-shot language-guided robotic manipulation across open-world and spatial reasoning tasks.
Kinodynamic task and motion plan- ning using vlm-guided and interleaved sampling,
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Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation
A modular framework using FastSAM with Set-of-Mark prompting, an LLM as semantic router, and MoveIt Task Constructor achieves 62% end-to-end success in zero-shot language-guided robotic manipulation across open-world and spatial reasoning tasks.