GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation

Articulated object manipulation is a unique challenge for service robots. Existing methods employ end-to-end policy learning, visionmotion planning, and large-language/visual-language model (LLM/VLM), but often overlook the diversity of articulated objects and the complexity of interactions between end-effector and handle, leading to limited generalization and destructive collisions. To address this, we propose GSAM, a generalizable and safe robotic framework for articulated object manipulation. Specifically, a vision-based perceiver generates the kinematic parameters. Considering that pre-trained markers in perceiver yield raw estimations that may deviate from commonsense, we present a f ine-tuned VLM-based refiner, using chain-of-thought (COT) commonsense reasoning to refine perception. To prevent destructive collisions, we design an interaction constraint function generator, integrating articulated object, interaction pose, and obstacle avoidance knowledge into a base. LLM then functionalize these constraints and apply them to trajectory and posture planning. A kinematic-aware manipulation planner verifies reachability for trajectory and posture. Experiments on 50 hinge tasks across 5 object categories and 50 randomly initialized end-effectorhandle configurations show that GSAM reduces standard deviation by 3.1% and improves manipulation success rate by 36.0% compared to the best baseline, respectively demonstrating the superior object generalization and interaction safety of GSAM in practical scenarios.

High-precision Voice Search Query Correction via Retrievable Speech-text Embedings

Automatic speech recognition (ASR) systems can suffer from poor recall for various reasons, such as noisy audio, lack of sufficient training data, etc. Previous work has shown that recall can be improved by retrieving rewrite candidates from a large database of likely, contextually-relevant alternatives to the hypothesis text using nearest-neighbors search over embeddings of the ASR hypothesis text to correct and candidate corrections. However, ASR-hypothesis-based retrieval can yield poor precision if the textual hypotheses are too phonetically dissimilar to the transcript truth. In this paper, we eliminate the hypothesis-audio mismatch problem by querying the correction database directly using embeddings derived from the utterance audio; the embeddings of the utterance audio and candidate corrections are produced by multimodal speech-text embedding networks trained to place the embedding of the audio of an utterance and the embedding of its corresponding textual transcript close together. After locating an appropriate correction candidate using nearest-neighbor search, we score the candidate with its speech-text embedding distance before adding the candidate to the original n-best list. We show a relative word error rate (WER) reduction of 6% on utterances whose transcripts appear in the candidate set, without increasing WER on general utterances.