Anh Nguyen

Toan Nguyen, Minh Nhat Vu, An Vuong et al.

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of intelligent robots in complex and dynamic environments. In this paper, we present the Open-Vocabulary Affordance Detection (OpenAD) method, which is capable of detecting an unbounded number of affordances in 3D point clouds. By simultaneously learning the affordance text and the point feature, OpenAD successfully exploits the semantic relationships between affordances. Therefore, our proposed method enables zero-shot detection and can be able to detect previously unseen affordances without a single annotation example. Intensive experimental results show that OpenAD works effectively on a wide range of affordance detection setups and outperforms other baselines by a large margin. Additionally, we demonstrate the practicality of the proposed OpenAD in real-world robotic applications with a fast inference speed (~100ms). Our project is available at https://openad2023.github.io.

Tuan Van Vo, Minh Nhat Vu, Baoru Huang et al.

Grasp detection is an essential task in robotics with various industrial applications. However, traditional methods often struggle with occlusions and do not utilize language for grasping. Incorporating natural language into grasp detection remains a challenging task and largely unexplored. To address this gap, we propose a new method for language-driven grasp detection with mask-guided attention by utilizing the transformer attention mechanism with semantic segmentation features. Our approach integrates visual data, segmentation mask features, and natural language instructions, significantly improving grasp detection accuracy. Our work introduces a new framework for language-driven grasp detection, paving the way for language-driven robotic applications. Intensive experiments show that our method outperforms other recent baselines by a clear margin, with a 10.0% success score improvement. We further validate our method in real-world robotic experiments, confirming the effectiveness of our approach.

Nhat Chung, Taisei Hanyu, Toan Nguyen et al.

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually similar objects. In these non-Markovian settings, key decision cues are often hidden in object-specific histories rather than the current scene. Without persistent memory of prior interactions (what has been interacted with, where it has been, or how it has changed) visuomotor policies may fail, repeat past actions, or overlook completed ones. To surface this challenge, we introduce LIBERO-Mem, a non-Markovian task suite for stress-testing robotic manipulation under object-level partial observability. It combines short- and long-horizon object tracking with temporally sequenced subgoals, requiring reasoning beyond the current frame. However, vision-language-action (VLA) models often struggle in such settings, with token scaling quickly becoming intractable even for tasks spanning just a few hundred frames. We propose Embodied-SlotSSM, a slot-centric VLA framework built for temporal scalability. It maintains spatio-temporally consistent slot identities and leverages them through two mechanisms: (1) slot-state-space modeling for reconstructing short-term history, and (2) a relational encoder to align the input tokens with action decoding. Together, these components enable temporally grounded, context-aware action prediction. Experiments show Embodied-SlotSSM's baseline performance on LIBERO-Mem and general tasks, offering a scalable solution for non-Markovian reasoning in object-centric robotic policies.

Thuy T. Do, Du Nguyen, Anh Le et al.

Hydroxychloroquine (HCQ) is used to prevent or treat malaria caused by mosquito bites. Recently, the drug has been suggested to treat COVID-19, but that has not been supported by scientific evidence. The information regarding the drug efficacy has flooded social networks, posting potential threats to the community by perverting their perceptions of the drug efficacy. This paper studies the reactions of social network users on the recommendation of using HCQ for COVID-19 treatment by analyzing the reaction patterns and sentiment of the tweets. We collected 164,016 tweets from February to December 2020 and used a text mining approach to identify social reaction patterns and opinion change over time. Our descriptive analysis identified an irregularity of the users' reaction patterns associated tightly with the social and news feeds on the development of HCQ and COVID-19 treatment. The study linked the tweets and Google search frequencies to reveal the viewpoints of local communities on the use of HCQ for COVID-19 treatment across different states. Further, our tweet sentiment analysis reveals that public opinion changed significantly over time regarding the recommendation of using HCQ for COVID-19 treatment. The data showed that high support in the early dates but it significantly declined in October. Finally, using the manual classification of 4,850 tweets by humans as our benchmark, our sentiment analysis showed that the Google Cloud Natural Language algorithm outperformed the Valence Aware Dictionary and sEntiment Reasoner in classifying tweets, especially in the sarcastic tweet group.