2 citations · 2 across the 3 of their papers we have counts for
5 papers
FastOPD: On-Policy Distillation for Lightweight VLA Deployment
Yoojin Oh, Jeongsol Kim, Yeonwoo Seo +7
Vision-Language-Action (VLA) foundation models have scaled rapidly to enhance manipulation performance and generalizability, but this scaling incurs high computational costs that r…
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies
Yoojin Oh, Marc Toussaint, Jim Mainprice
In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns a…
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
Yoojin Oh, Marc Toussaint, Jim Mainprice
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robo…
Natural Gradient Shared Control
Yoojin Oh, Shao-Wen Wu, Marc Toussaint +1
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy sys…
Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation
Yoojin Oh, Marc Toussaint, Jim Mainprice
In this paper we present a framework for the teleoperation of pick-and-place tasks. We define a shared control policy that allows to blend between direct user control and autonomou…