Iok Tong Lei — Papers on Cortexa

arxivcs.ROcs.LG2026-07-05

ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

Iok Tong Lei, QianZhi Li, Ying Jie Yap, Yujie Zhang, Rui Zhong, Haichao Gui, et al.

Open-ended tabletop manipulation requires agents to not only understand natural language but also adapt to dynamic environments and execution failures. We present ACE (Agentic Control for Embodied Manipulation), a zero-shot workflow reasoning framework for tabletop pick-and-place…

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arxivcs.RO2026-06-29

OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model

Iok Tong Lei, Qingchen Xie, Yifan Wang, Yap Ying Jie, Zhidong Deng

Open-environment tabletop robotic manipulation requires systems to possess semantic understanding, precise geometric pose estimation, and high-frequency action generation. While end-to-end vision-language-action (VLA) models excel at semantic generalization, they often lack expli…

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