Junshan Huang — accepted AI-conference papers

2026

High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement

ICRA 2026poster

We propose Synchronous Dual-Arm Rearrange- ment Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange objects whose start and goal config- urations are strongly e…

Cited by 0 Source ↗PDF ↗code ↗Scholar ↗

2025

VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models

Chongkai Gao, Zixuan Liu, Zhenghao Chi, Junshan Huang, Xin Fei, Yiwen Hou +4

NeurIPS 2025poster

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various complex, long-horizon manipulation tasks. However, existing approac…

Cited by 0 Source ↗Scholar ↗