Instance-anchored interaction evidence: Grounding robot plans in human pointing and handling

arXiv:2610.12157 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Code: https://github.com/WeiZhou96/iae-watchact

Terminology

• Benchmark — 14× in this paper · explained in 2 episodes
• Grounding — 13× in this paper · explained in 3 episodes
• Decode — 5× in this paper · explained in 2 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Abstention — 1× in this paper · explained in 1 episode
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
• GPT-4V(ision) for Robotics: Multimodal Task Planning from Human Demonstration
• VLM See, Robot Do: Human Demo Video to Robot Action Plan via Vision Language Model
• Do MLLMs Understand Pointing? Benchmarking and Enhancing Referential Reasoning in Egocentric Vision
• Can Vision-Language Models Solve the Shell Game?
• GIVE: Grounding Human Gestures in Vision-Language-Action Models
• GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representations
• Beyond Language: Grounding Referring Expressions with Hand Pointing in Egocentric Vision
• Do You See What I Am Pointing At? Gesture-Based Egocentric Video Question Answering
• VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions
• Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers
• XSkill: Cross Embodiment Skill Discovery
• Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulation
• EgoPlan-Bench: Benchmarking Multimodal Large Language Models for Human-Level Planning
• DeePoint: Visual Pointing Recognition and Direction Estimation
• YouRefIt: Embodied Reference Understanding with Language and Gesture
• Understanding Embodied Reference with Touch-Line Transformer
• Gesture-Informed Robot Assistance via Foundation Models
• Communicating human intent to a robotic companion by multi-type gesture sentences

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