GSAM: A Generalizable Robotic Framework for Articulated Object Manipulation
A new robotic framework called GSAM has been introduced by researchers for the safe and generalizable manipulation of articulated objects. This system employs a vision-based perceiver to create kinematic parameters, complemented by a finely-tuned VLM-based refiner that utilizes chain-of-thought commonsense reasoning to enhance perception. To avoid harmful collisions, an interaction constraint function generator incorporates the articulated object, interaction pose, and obstacles. This research tackles the shortcomings of current methods that fail to account for object diversity and intricate interactions. The findings can be accessed on arXiv with the identifier 2605.30740.
Key facts
- GSAM is a generalizable and safe robotic framework for articulated object manipulation.
- A vision-based perceiver generates kinematic parameters.
- A fine-tuned VLM-based refiner uses chain-of-thought commonsense reasoning.
- An interaction constraint function generator prevents destructive collisions.
- The paper is on arXiv with ID 2605.30740.
- Existing methods often overlook diversity of articulated objects and complexity of interactions.
Entities
Institutions
- arXiv