AIBullisharXiv – CS AI · Jun 17/10
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GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
GSAM is a new robotic framework that improves articulated object manipulation through vision-based perception, VLM-based refinement with commonsense reasoning, and constraint-based planning to prevent collisions. In experiments across 50 hinge tasks, GSAM achieved 36% higher success rates and 3.1% lower standard deviation compared to existing baselines, demonstrating superior generalization and safety.