{"id":"https://openalex.org/W4404608883","doi":"https://doi.org/10.1109/icmlca63499.2024.10754333","title":"Research on Task Decomposition and Motion Trajectory Optimization of Robotic Arm Based on VLA Large Model","display_name":"Research on Task Decomposition and Motion Trajectory Optimization of Robotic Arm Based on VLA Large Model","publication_year":2024,"publication_date":"2024-10-18","ids":{"openalex":"https://openalex.org/W4404608883","doi":"https://doi.org/10.1109/icmlca63499.2024.10754333"},"language":"en","primary_location":{"id":"doi:10.1109/icmlca63499.2024.10754333","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icmlca63499.2024.10754333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 5th International Conference on Machine Learning and Computer Application (ICMLCA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101197825","display_name":"Wentao Lu","orcid":"https://orcid.org/0009-0008-0934-2812"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Lu","raw_affiliation_strings":["Fudan University,Department of Electronic Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782809","display_name":"Xiaofeng Wu","orcid":"https://orcid.org/0000-0002-5688-0209"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofeng Wu","raw_affiliation_strings":["Fudan University,Department of Electronic Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Department of Electronic Engineering,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048271189","display_name":"Shuyong Gao","orcid":"https://orcid.org/0000-0002-8992-0756"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyong Gao","raw_affiliation_strings":["School of Computer Science, Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002609160","display_name":"Wei He","orcid":"https://orcid.org/0000-0003-1551-0786"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039804722","display_name":"Qing Zhao","orcid":"https://orcid.org/0009-0004-8319-5487"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Zhao","raw_affiliation_strings":["Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lunning Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lunning Zhang","raw_affiliation_strings":["Shanghai Future Space-Time Technology Co.,Ltd,Department of hardware support,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Future Space-Time Technology Co.,Ltd,Department of hardware support,Shanghai,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042105147","display_name":"Maodong Li","orcid":"https://orcid.org/0000-0001-5637-5862"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Maodong Li","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City,Macau S.A.R,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City,Macau S.A.R,China","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101516277","display_name":"Wenqiang Zhang","orcid":"https://orcid.org/0000-0002-0810-2867"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqiang Zhang","raw_affiliation_strings":["Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering &#x0026; Technology, Fudan University,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"80","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7473000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7473000288009644,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.6941999793052673,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14270","display_name":"Simulation and Modeling Applications","score":0.6747999787330627,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7783315181732178},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.7156029939651489},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6544984579086304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6152942180633545},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5621774196624756},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5537376403808594},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.45494934916496277},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4010576605796814},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3715690076351166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19064292311668396},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13458353281021118},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.05994683504104614},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.05583709478378296}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7783315181732178},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.7156029939651489},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6544984579086304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6152942180633545},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5621774196624756},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5537376403808594},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.45494934916496277},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4010576605796814},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3715690076351166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19064292311668396},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13458353281021118},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.05994683504104614},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.05583709478378296},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmlca63499.2024.10754333","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icmlca63499.2024.10754333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 5th International Conference on Machine Learning and Computer Application (ICMLCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2895524695","https://openalex.org/W2970231061","https://openalex.org/W3090449556","https://openalex.org/W3138392552","https://openalex.org/W3203511201","https://openalex.org/W3205786327","https://openalex.org/W4221159977","https://openalex.org/W4283788863","https://openalex.org/W4283788970","https://openalex.org/W4318718936","https://openalex.org/W4319451949","https://openalex.org/W4322614752","https://openalex.org/W4323066621","https://openalex.org/W4323572061","https://openalex.org/W4324299512","https://openalex.org/W4366457178","https://openalex.org/W4379260839","https://openalex.org/W4385431288","https://openalex.org/W4385473486","https://openalex.org/W4386065350","https://openalex.org/W4386083015","https://openalex.org/W4387634951","https://openalex.org/W4388327601","https://openalex.org/W4399695759","https://openalex.org/W6696380822","https://openalex.org/W6751350349","https://openalex.org/W6801810553","https://openalex.org/W6810080435","https://openalex.org/W6849177959","https://openalex.org/W6852253340","https://openalex.org/W6854738657"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2362018761","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2101105382","https://openalex.org/W2361427670"],"abstract_inverted_index":{"With":[0],"the":[1,40,87,105,116,134,172,175,212,228,241],"continuous":[2],"advancement":[3],"of":[4,9,48,56,77,91,108,119,136,177,244],"intelligent":[5],"robotics,":[6],"efficient":[7],"execution":[8],"multiple":[10,159],"tasks":[11],"in":[12,101,125,222,247],"complex":[13,68,178],"environments":[14],"has":[15],"emerged":[16],"as":[17],"a":[18,147,155,193,237],"critical":[19],"research":[20],"area.":[21],"In":[22],"this":[23],"paper,":[24],"we":[25],"propose":[26],"an":[27],"innovative":[28],"framework":[29],"based":[30],"on":[31,86],"visual-linguistic":[32],"alignment":[33],"and":[34,43,59,66,80,89,122,139,161,168,185,189,218,235],"visual-language-action":[35],"(VLA)":[36],"models":[37,73,113],"to":[38,63,97],"enhance":[39],"task":[41,137,187,206,249],"decomposition":[42,138,188],"motion":[44],"trajectory":[45],"optimization":[46],"capabilities":[47],"robotic":[49],"arms.":[50],"Our":[51],"model":[52,173,213,229],"leverages":[53],"multimodal":[54,150,183],"fusion":[55,151],"visual":[57,120],"information":[58],"natural":[60,179],"language":[61,169,180],"instructions":[62],"automatically":[64],"understand":[65],"decompose":[67],"tasks.":[69],"While":[70],"existing":[71],"VLA":[72,112,198],"demonstrate":[74,210],"strong":[75],"integration":[76],"vision,":[78],"language,":[79],"motion,":[81],"they":[82],"often":[83],"depend":[84],"heavily":[85],"diversity":[88],"coverage":[90],"training":[92],"data,":[93],"limiting":[94],"their":[95],"generalization":[96,203],"diverse":[98,205],"tasks,":[99],"especially":[100],"cross-domain":[102],"scenarios.":[103,207],"Furthermore,":[104],"simplistic":[106],"treatment":[107],"inputs":[109],"by":[110],"current":[111],"can":[114],"hinder":[115],"deep":[117],"understanding":[118],"content":[121],"create":[123],"ambiguities":[124],"interpreting":[126],"abstract":[127],"or":[128],"unclear":[129],"linguistic":[130],"commands,":[131],"which":[132],"reduces":[133],"accuracy":[135],"execution.":[140,190],"To":[141],"address":[142],"these":[143],"limitations,this":[144],"paper":[145],"proposes":[146],"more":[148,230],"robust":[149],"mechanism":[152],"that":[153,211],"integrates":[154],"hybrid":[156],"module":[157],"combining":[158],"cross-attention":[160],"self-attention":[162],"mechanisms.":[163],"By":[164],"incorporating":[165],"appropriate":[166],"image":[167],"encoding":[170],"modalities,":[171],"improves":[174],"processing":[176],"instructions,":[181],"enhances":[182],"fusion,":[184],"refines":[186],"This":[191],"provides":[192],"significant":[194],"improvement":[195],"over":[196],"traditional":[197],"models,":[199],"while":[200],"also":[201],"enhancing":[202],"across":[204],"Experimental":[208],"results":[209],"achieves":[214],"faster":[215],"response":[216],"times":[217],"greater":[219],"robustness,":[220],"particularly":[221],"noisy":[223],"environments.":[224,250],"These":[225],"advancements":[226],"make":[227],"suitable":[231],"for":[232,240],"practical":[233],"applications":[234],"lay":[236],"solid":[238],"foundation":[239],"future":[242],"deployment":[243],"single-arm":[245],"robots":[246],"varied":[248]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
