Publications (5)
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
Zixuan Huang, Yating Lin, Fan Yang +1
Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a…
TaxThemis: Interactive Mining and Exploration of Suspicious Tax Evasion Group
Yating Lin, Kamkwai Wong, Yong Wang +4
Tax evasion is a serious economic problem for many countries, as it can undermine the government' s tax system and lead to an unfair business competition environment. Recent resear…
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
Zixuan Huang, Yinong He, Yating Lin +1
Long-horizon contact-rich manipulation has long been a challenging problem, as it requires reasoning over both discrete contact modes and continuous object motion. We introduce Imp…
AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
Yating Lin, Zixuan Huang, Fan Yang +1
Multivariate time-series anomaly detection, which is critical for identifying unexpected events, has been explored in the field of machine learning for several decades. However, di…
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
Yating Lin, Glen Chou, Dmitry Berenson
We propose a method for improving the prediction accuracy of learned robot dynamics models on out-of-distribution (OOD) states. We achieve this by leveraging two key sources of str…