A robot uses Fourier contour representation and an iterative action tree, guided by a vision-language model, to herd multi-particle aggregates through a gate while maintaining higher group cohesion than direct pushing.
Reactive shepherding along a dynamic path,
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Iterative Shaping of Multi-Particle Aggregates based on Action Trees and VLM
A robot uses Fourier contour representation and an iterative action tree, guided by a vision-language model, to herd multi-particle aggregates through a gate while maintaining higher group cohesion than direct pushing.