Vision-Language Grounded Task-Context-Aware Imitation Learning for Robotic Disassembly

arXiv:2609.17714 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Project page: https://rros-lab.github.io/task-context-aware-il-with-vlm.github.io

Terminology

• Grounding — 20× in this paper · explained in 3 episodes
• Generalization — 14× in this paper · explained in 13 episodes
• Accuracy — 12× in this paper · explained in 1 episode
• Transformer — 8× in this paper · explained in 2 episodes
• Data Augmentation — 4× in this paper · explained in 7 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• International Conference on Machine Learning — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Task Decomposition — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Adaptive Reasoning — 1× in this paper · explained in 2 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Task Planning — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• DINOv2: Learning Robust Visual Features without Supervision
• PaliGemma: A versatile 3B VLM for transfer
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning

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