HiWE: Hierarchical World Knowledge Model with Visual Keypoint Enhancement for Zero-Shot 3D Path Planning
Robot demonstration generation requires a system to identify where an interaction should occur, plan a feasible motion, and execute the required contact. HiWE connects these decisions through a point-based interface between visual grounding and language-based planning. PointVLM is instruction-tuned to associate task-re...
Guo-Qing Ma, Ming-Qi Yuan, Chen Gao et al.
· 0 citations