9 accepted papers
Computer-Aided Design (CAD) is a foundational component of industrial prototyping. where models are defined not by raw coordinates but by construction sequences such as sketches and extrusions. This sequential structure enables both efficient prototype initialization and subsequent editing. Text-…
Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint changes, and cross-embodiment transfer, yet they are typically developed in isolation and often rely on complex pipelin
Search-augmented LLMs often struggle with complex reasoning tasks due to ineffective multi-hop retrieval and limited reasoning ability. We propose AceSearcher, a cooperative self-play framework that trains a single large language model (LLM) to alternate between two roles: a decomposer that breaks d…
A Computer-Aided Design (CAD) model encodes an object in two coupled forms: a \emph{parametric construction sequence} and its resulting \emph{visible geometric shape}. During iterative design, adjustments to the geometric shape inevitably require synchronized edits to the underlying parametric seque…
An end-to-end (E2E) visuomotor policy is typically treated as a unified whole, but recent approaches using out-of-domain (OOD) data to pretrain the visual encoder have cleanly separated the visual encoder from the network, with the remainder referred to as the policy. We propose Visual Alignment Tes
Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras, enabling impressive visuomotor performance. However, it remains constrained by the cost of collecting sufficiently diverse demonstrations, especially for generalizing across workspace variations. We propose…
Creating Computer-Aided Design (CAD) models requires significant expertise and effort. Text-to-CAD, which converts textual descriptions into CAD parametric sequences, is crucial in streamlining this process. Recent studies have utilized ground-truth parametric sequences, known as sequential signals…
In vision-based behaviour cloning (BC), traditional image-level augmentation methods such as pixel shifting enhance in-domain performance but often struggle with visual domain shifts, including distractors, occlusion, and changes in lighting and backgrounds. Conversely, superimposition-based augment…
As model and dataset sizes continue to scale in robot learning, the need to understand how the composition and properties of a dataset affect model performance becomes increasingly urgent to ensure cost-effective data collection and model performance. In this work, we empirically investigate how phy…