5 papers
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3
Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and can struggle to follow precise natural language instructions that enco…
AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation
Anukriti Singh, Kasra Torshizi, Khuzema Habib +3
Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based…
VARP: Reinforcement Learning from Vision-Language Model Feedback with Agent Regularized Preferences
Anukriti Singh, Amisha Bhaskar, Peihong Yu +4
Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of…
Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches
Peihong Yu, Amisha Bhaskar, Anukriti Singh +2
Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning…
REBEL: Reward Regularization-Based Approach for Robotic Reinforcement Learning from Human Feedback
Souradip Chakraborty, Anukriti Singh, Amisha Bhaskar +3
The effectiveness of reinforcement learning (RL) agents in continuous control robotics tasks is mainly dependent on the design of the underlying reward function, which is highly pr…