Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2602.23583 |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866914355873841152 |
|---|---|
| author | Kim, Donggeon Jan, Seungwon Park, Hyeonjun Lim, Daegyu |
| author_facet | Kim, Donggeon Jan, Seungwon Park, Hyeonjun Lim, Daegyu |
| contents | The reliance on language in Vision-Language-Action (VLA) models introduces ambiguity, cognitive overhead, and difficulties in precise object identification and sequential task execution, particularly in environments with multiple visually similar objects. To address these limitations, we propose Vision-Click-Action (VCA), a framework that replaces verbose textual commands with direct, click-based visual interaction using pretrained segmentation models. By allowing operators to specify target objects clearly through visual selection in the robot's 2D camera view, VCA reduces interpretation errors, lowers cognitive load, and provides a practical and scalable alternative to language-driven interfaces for real-world robotic manipulation. Experimental results validate that the proposed VCA framework achieves effective instance-level manipulation of specified target objects. Experiment videos are available at https://robrosinc.github.io/vca/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_23583 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | VCA: Vision-Click-Action Framework for Precise Manipulation of Segmented Objects in Target Ambiguous Environments Kim, Donggeon Jan, Seungwon Park, Hyeonjun Lim, Daegyu Robotics The reliance on language in Vision-Language-Action (VLA) models introduces ambiguity, cognitive overhead, and difficulties in precise object identification and sequential task execution, particularly in environments with multiple visually similar objects. To address these limitations, we propose Vision-Click-Action (VCA), a framework that replaces verbose textual commands with direct, click-based visual interaction using pretrained segmentation models. By allowing operators to specify target objects clearly through visual selection in the robot's 2D camera view, VCA reduces interpretation errors, lowers cognitive load, and provides a practical and scalable alternative to language-driven interfaces for real-world robotic manipulation. Experimental results validate that the proposed VCA framework achieves effective instance-level manipulation of specified target objects. Experiment videos are available at https://robrosinc.github.io/vca/. |
| title | VCA: Vision-Click-Action Framework for Precise Manipulation of Segmented Objects in Target Ambiguous Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.23583 |