arXiv subjects

Vineet Bhat

Publications and source records attributed to Vineet Bhat.

12 recordsLinked to original sources

arXiv2026

PROBE: Manipulation-Grounded Visual Question Answering with VLM Agents

Vision-language Models (VLMs) excel at 2D grounding, spatial reasoning and agentic tool-based planning in static scenes. However, consider asking a home robot "Is my medication still in the cabinet?" The answer may be physically hidden behind a row of containers that must first be moved aside. Answering such questions in real-world cluttered environments requires reasoning in dynamic scenes: distractors must be manipulated to reveal occluded objects, and each action changes the scene the model must reason over. We formalize this setting as Manipulation-Grounded Visual Question Answering (MG-VQA) and introduce PROBE, a framework for benchmarking and finetuning VLM agents on such tasks. We first develop PROBE-Sim, a high-fidelity tabletop simulator with everyday objects and a robot manipulator equipped with grasping and pushing tools. PROBE-Sim is used to create PROBE-Bench: an evaluation suite of 150 tasks across 6 question types on cluttered tabletop scenes, where a VLM perceives, picks up or pushes objects before answering. We observe consistent trend across all frontier VLMs: agentic tool-based methods outperform their perception-only baselines (8.0% on average) across all task types. We further design PROBE-Agent, a finetuning recipe to distill successful trajectories from a powerful teacher foundation model to a smaller open-weight model using a mixed data recipe that encourages manipulation-efficient question answering. PROBE Agent finetuned models outperform their off-the-shelf agent baseline (11.5% on average) and demonstrate positive transfer to unseen objects and a held-out task. We validate sim-to-real transfer by deploying PROBE-Agent finetuned policies in real-world tabletop environments.

cs.CV↗

arXiv2026

RESCORE: LLM-Driven Simulation Recovery in Control Systems Research Papers

Reconstructing numerical simulations from control systems research papers is often hindered by underspecified parameters and ambiguous implementation details. We define the task of Paper to Simulation Recoverability, the ability of an automated system to generate executable code that faithfully reproduces a paper's results. We curate a benchmark of 500 papers from the IEEE Conference on Decision and Control (CDC) and propose RESCORE, a three component LLM agentic framework, Analyzer, Coder, and Verifier. RESCORE uses iterative execution feedback and visual comparison to improve reconstruction fidelity. Our method successfully recovers task coherent simulations for 40.7% of benchmark instances, outperforming single pass generation. Notably, the RESCORE automated pipeline achieves an estimated 10X speedup over manual human replication, drastically cutting the time and effort required to verify published control methodologies. We will release our benchmark and agents to foster community progress in automated research replication.

cs.AI↗

arXiv2025

BOP-ASK: Object-Interaction Reasoning for Vision-Language Models

Vision Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interactions. Current benchmarks test high level relationships ('left of,' 'behind', etc.) but ignore fine-grained spatial understanding needed for real world applications: precise 3D localization, physical compatibility between objects, object affordances and multi step spatial planning. In this work, we present BOP-ASK, a novel large scale dataset for object interaction reasoning for both training and benchmarking. Our data generation pipeline leverages 6D object poses from the Benchmark for Object Pose Estimation (BOP) datasets from which we derive fine grained annotations such as grasp poses, referred object poses, path planning trajectories, relative spatial and depth relationships, and object-to-object relationships. BOP-ASK comprises over 150k images and 33M question answer pairs spanning six tasks (four novel), providing a rich resource for training and evaluating VLMs. We evaluate proprietary and open sourced VLMs, and conduct human evaluations on BOP-ASK-core, a contributed test benchmark. We also release BOP-ASK-lab, an out-of-distribution benchmark with images not sourced from BOP, enabling testing of generalization. Our experiments demonstrate that models trained on BOP-ASK outperform baselines and exhibit emergent capabilities such as precise object and grasp pose estimation, trajectory planning, and fine-grained object-centric spatial reasoning in cluttered environments.

cs.CV↗

arXiv2025

MapleGrasp: Mask-guided Feature Pooling for Language-driven Efficient Robotic Grasping

Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel framework that leverages mask-guided feature pooling for efficient vision-language driven grasping. Our two-stage training first predicts segmentation masks from CLIP-based vision-language features. The second stage pools features within these masks to generate pixel-level grasp predictions, improving efficiency, and reducing computation. Incorporating mask pooling results in a 7% improvement over prior approaches on the OCID-VLG benchmark. Furthermore, we introduce RefGraspNet, an open-source dataset eight times larger than existing alternatives, significantly enhancing model generalization for open-vocabulary grasping. MapleGrasp scores a strong grasping accuracy of 89\% when compared with competing methods in the RefGraspNet benchmark. Our method achieves comparable performance to larger Vision-Language-Action models on the LIBERO benchmark, and shows significantly better generalization to unseen tasks. Real-world experiments on a Franka arm demonstrate 73% success rate with unseen objects, surpassing competitive baselines by 11%. Code is provided in our github repository.

cs.RO↗

arXiv2025

3D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Tasks

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to transform real-world observations into low-level control for object interaction. Recent advances in Vision-Language-Action (VLA) models have shown promise by mapping RGB images and language instructions to task space velocities, typically trained on large datasets of teleoperated demonstrations. However, these models often struggle with generalization beyond their training distributions. In this work, we introduce 3D-CAVLA, a novel finetuning framework that enhances task generalization of VLA policies by incorporating three key components: (i) chain-of-thought reasoning for structured decision-making, (ii) depth-aware perception for 3D spatial understanding, and (iii) task-oriented region-of-interest detection for focused manipulation. Extensive experiments in the LIBERO simulation environment demonstrate that 3D-CAVLA achieves an average success rate of 98.1% across diverse in-domain task suites. On unseen tasks, 3D-CAVLA delivers an absolute improvement of 8.8% in success rate, underscoring the benefits of 3D scene awareness for robust generalization. We validate our approach on real-world tabletop experiments demonstrating that the proposed model translates effectively from simulation to physical robots. 3D-CAVLA achieves over a 3X faster training convergence and delivers a 25% gain in success rate on unseen real world tasks. We will open-source our code and the unseen tasks dataset to promote community-driven research here: https://3d-cavla.github.io

cs.RO↗

arXiv2024

Masala-CHAI: A Large-Scale SPICE Netlist Dataset for Analog Circuits by Harnessing AI

Masala-CHAI is a fully automated framework leveraging large language models (LLMs) to generate Simulation Programs with Integrated Circuit Emphasis (SPICE) netlists. It addresses a long-standing challenge in circuit design automation: automating netlist generation for analog circuits. Automating this workflow could accelerate the creation of fine-tuned LLMs for analog circuit design and verification. In this work, we identify key challenges in automated netlist generation and evaluate multimodal capabilities of state-of-the-art LLMs, particularly GPT-4, in addressing them. We propose a three-step workflow to overcome existing limitations: labeling analog circuits, prompt tuning, and netlist verification. This approach enables end-to-end SPICE netlist generation from circuit schematic images, tackling the persistent challenge of accurate netlist generation. We utilize Masala-CHAI to collect a corpus of 7,500 schematics that span varying complexities in 10 textbooks and benchmark various open source and proprietary LLMs. Models fine-tuned on Masala-CHAI when used in LLM-agentic frameworks such as AnalogCoder achieve a notable 46% improvement in Pass@1 scores. We open-source our dataset and code for community-driven development.

cs.AR↗

arXiv2024

HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's workspace. RGS comprises two steps: visual grounding and grasp pose estimation. Recent studies leverage powerful Vision-Language Models (VLMs) for visually grounding free-flowing natural language in real-world robotic execution. However, comparisons in complex, cluttered environments with multiple instances of the same object are lacking. This paper introduces HiFi-CS, featuring hierarchical application of Featurewise Linear Modulation (FiLM) to fuse image and text embeddings, enhancing visual grounding for complex attribute rich text queries encountered in robotic grasping. Visual grounding associates an object in 2D/3D space with natural language input and is studied in two scenarios: Closed and Open Vocabulary. HiFi-CS features a lightweight decoder combined with a frozen VLM and outperforms competitive baselines in closed vocabulary settings while being 100x smaller in size. Our model can effectively guide open-set object detectors like GroundedSAM to enhance open-vocabulary performance. We validate our approach through real-world RGS experiments using a 7-DOF robotic arm, achieving 90.33\% visual grounding accuracy in 15 tabletop scenes. Our codebase is provided here: https://github.com/vineet2104/hifics

cs.RO↗

arXiv2024

Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to generate robot policies in both simulation and real-world environments. LLMs like GPT-4 have shown promising results in generalizing to unseen tasks, but their applicability is limited due to hallucinations caused by insufficient grounding in the robot environment. The robustness of LLMs in task planning can be enhanced with environmental state information and feedback. In this paper, we introduce a novel approach to task planning that utilizes two separate LLMs for high-level planning and low-level control, improving task-related success rates and goal condition recall. Our algorithm, \textit{BrainBody-LLM}, draws inspiration from the human neural system, emulating its brain-body architecture by dividing planning across two LLMs in a structured, hierarchical manner. BrainBody-LLM implements a closed-loop feedback mechanism, enabling learning from simulator errors to resolve execution errors in complex settings. We demonstrate the successful application of BrainBody-LLM in the VirtualHome simulation environment, achieving a 29\% improvement in task-oriented success rates over competitive baselines with the GPT-4 backend. Additionally, we evaluate our algorithm on seven complex tasks using a realistic physics simulator and the Franka Research 3 robotic arm, comparing it with various state-of-the-art LLMs. Our results show advancements in the reasoning capabilities of recent LLMs, which enable them to learn from raw simulator/controller errors to correct plans, making them highly effective in robotic task planning.

cs.RO↗

arXiv2023

DISCO: A Large Scale Human Annotated Corpus for Disfluency Correction in Indo-European Languages

Disfluency correction (DC) is the process of removing disfluent elements like fillers, repetitions and corrections from spoken utterances to create readable and interpretable text. DC is a vital post-processing step applied to Automatic Speech Recognition (ASR) outputs, before subsequent processing by downstream language understanding tasks. Existing DC research has primarily focused on English due to the unavailability of large-scale open-source datasets. Towards the goal of multilingual disfluency correction, we present a high-quality human-annotated DC corpus covering four important Indo-European languages: English, Hindi, German and French. We provide extensive analysis of results of state-of-the-art DC models across all four languages obtaining F1 scores of 97.55 (English), 94.29 (Hindi), 95.89 (German) and 92.97 (French). To demonstrate the benefits of DC on downstream tasks, we show that DC leads to 5.65 points increase in BLEU scores on average when used in conjunction with a state-of-the-art Machine Translation (MT) system. We release code to run our experiments along with our annotated dataset here.

cs.CL↗

arXiv2023

Adversarial Training For Low-Resource Disfluency Correction

Disfluencies commonly occur in conversational speech. Speech with disfluencies can result in noisy Automatic Speech Recognition (ASR) transcripts, which affects downstream tasks like machine translation. In this paper, we propose an adversarially-trained sequence-tagging model for Disfluency Correction (DC) that utilizes a small amount of labeled real disfluent data in conjunction with a large amount of unlabeled data. We show the benefit of our proposed technique, which crucially depends on synthetically generated disfluent data, by evaluating it for DC in three Indian languages- Bengali, Hindi, and Marathi (all from the Indo-Aryan family). Our technique also performs well in removing stuttering disfluencies in ASR transcripts introduced by speech impairments. We achieve an average 6.15 points improvement in F1-score over competitive baselines across all three languages mentioned. To the best of our knowledge, we are the first to utilize adversarial training for DC and use it to correct stuttering disfluencies in English, establishing a new benchmark for this task.

cs.CL↗

arXiv2023

DisfluencyFixer: A tool to enhance Language Learning through Speech To Speech Disfluency Correction

Conversational speech often consists of deviations from the speech plan, producing disfluent utterances that affect downstream NLP tasks. Removing these disfluencies is necessary to create fluent and coherent speech. This paper presents DisfluencyFixer, a tool that performs speech-to-speech disfluency correction in English and Hindi using a pipeline of Automatic Speech Recognition (ASR), Disfluency Correction (DC) and Text-To-Speech (TTS) models. Our proposed system removes disfluencies from input speech and returns fluent speech as output along with its transcript, disfluency type and total disfluency count in source utterance, providing a one-stop destination for language learners to improve the fluency of their speech. We evaluate the performance of our tool subjectively and receive scores of 4.26, 4.29 and 4.42 out of 5 in ASR performance, DC performance and ease-of-use of the system. Our tool can be accessed openly at the following link.

cs.CL↗

arXiv2023

VAKTA-SETU: A Speech-to-Speech Machine Translation Service in Select Indic Languages

In this work, we present our deployment-ready Speech-to-Speech Machine Translation (SSMT) system for English-Hindi, English-Marathi, and Hindi-Marathi language pairs. We develop the SSMT system by cascading Automatic Speech Recognition (ASR), Disfluency Correction (DC), Machine Translation (MT), and Text-to-Speech Synthesis (TTS) models. We discuss the challenges faced during the research and development stage and the scalable deployment of the SSMT system as a publicly accessible web service. On the MT part of the pipeline too, we create a Text-to-Text Machine Translation (TTMT) service in all six translation directions involving English, Hindi, and Marathi. To mitigate data scarcity, we develop a LaBSE-based corpus filtering tool to select high-quality parallel sentences from a noisy pseudo-parallel corpus for training the TTMT system. All the data used for training the SSMT and TTMT systems and the best models are being made publicly available. Users of our system are (a) Govt. of India in the context of its new education policy (NEP), (b) tourists who criss-cross the multilingual landscape of India, (c) Indian Judiciary where a leading cause of the pendency of cases (to the order of 10 million as on date) is the translation of case papers, (d) farmers who need weather and price information and so on. We also share the feedback received from various stakeholders when our SSMT and TTMT systems were demonstrated in large public events.

cs.CL↗