Ablation Study of Multimodal Perception, Language Grounding, and Control for Human-Robot Interaction in an Object Detection and Grasping Task
This manuscript extends our previous multimodal human-robot interaction system by introducing a controlled ablation study of the three modules that most strongly influence end-to-end performance: the large language model used for action extraction, the perception system used for visual grounding, and the controller used for motion execution. The goal is not to redesign the full pipeline, but to isolate the contribution of each component under a common experimental protocol and then evaluate the best combinations end-to-end. We therefore compare three language models, five perception configurations, and three controllers, followed by a second-stage factorial study over the best candidates....
| Authors | Zi Tian, Guanting Shen |
|---|---|
| Primary category | cs.RO |
| Published | 1 May 2026 |
| Last updated at source | 1 May 2026 |
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