95 citations · 378 across the 58 of their papers we have counts for
14 papers · 1 filter
Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations
Bo-Ruei Huang, Daniel Seita, Erdem Bıyık
Robot manipulation has traditionally relied on end-effector-centric interactions. In contrast, humans routinely exploit whole-arm contacts to improve efficiency, robustness, and ad…
In View or Out of View? A Vision-Aware Filter that Infers and Reacts to the Human's Field of View
Mengxue Fu, Ya-Chuan Hsu, Yinlong Dai +2
During human-robot interaction, sight plays an important role. When the human sees a robot, they can observe the robot's actions and better predict the robot's future behaviors. Co…
Reward-DAgger: Robot-Gated Interactive Imitation Learning with General-Purpose Progress-Based Reward Models
Ryan Li, Yigit Korkmaz, Erdem Bıyık
Recent advances in robot learning have enabled generalist control policies capable of completing a wide range of tasks. However, their performance degrades when deployed in unseen…
Video2STL: Grounding VLM-Generated Temporal Specifications for Robot Learning
Merve Atasever, Keyan Azbijari, Cagan Bakirci +6
Video-based policy learning is particularly promising, as it illustrates target behaviors without requiring action annotations or embodiment-matched demonstrations. A central chall…
ITA-LaCAM: A Complete and Scalable TAPF Solver via Assignment-Aware Configuration-Space Search
Yimin Tang, Han Zhang, Shao-Hung Chan +4
Combined Target Assignment and Path Finding (TAPF) requires assigning targets for agents while simultaneously planning collision-free paths. We present ITA-LaCAM, a complete and sc…
From LLM-Generated Specifications to Learned Quadruped Locomotion
Merve Atasever, Keyan Azbijari, Cagan Bakirci +5
Quadruped robot locomotion policies are often trained using reinforcement learning, which in turn relies heavily on hand-crafted reward functions. Designing reward functions requir…
Subspace Inference Enables Efficient Active Reward Learning from Preferences
Yutai Zhou, Erdem Bıyık
Reinforcement learning from human feedback (RLHF) has emerged as a powerful yet sample-inefficient approach for learning reward models from human preferences, making active learnin…
Fix the Mind, Not the Move: Interpretable AI Assistance via Knowledge-Gap Localization
Ayano Hiranaka, Ya-Chuan Hsu, Stefanos Nikolaidis +2
AI assistants in human-AI collaboration often correct suboptimal human actions through behavioral feedback (e.g., alerts or steering-wheel nudges in assistive driving). Such interv…
Vibrotactile Preference Learning: Uncertainty-Aware Preference Learning for Personalized Vibration Feedback
Rongtao Zhang, Xin Zhu, Masoume Pourebadi Khotbehsara +3
Individual differences in vibrotactile perception underscore the growing importance of personalization as haptic feedback becomes more prevalent in interactive systems. We propose…
Causally Robust Reward Learning from Reason-Augmented Preference Feedback
Minjune Hwang, Yigit Korkmaz, Daniel Seita +1
Preference-based reward learning is widely used for shaping agent behavior to match a user's preference, yet its sparse binary feedback makes it especially vulnerable to causal con…
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
Anthony Liang, Yigit Korkmaz, Jiahui Zhang +14
General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effecti…
SyncTwin: Fast Digital Twin Construction and Synchronization for Safe Robotic Manipulation
Ruopeng Huang, Boyu Yang, Wenlong Gui +3
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin…
Beyond Explainable AI (XAI): An Overdue Paradigm Shift and Post-XAI Research Directions
Saleh Afroogh, Syed Ishtiaque Ahmed, Petra Ahrweiler +46
This study provides a cross-disciplinary examination of Explainable Artificial Intelligence (XAI) approaches-focusing on deep neural networks (DNNs) and large language models (LLMs…
Judgelight: Trajectory-Level Post-Optimization for Multi-Agent Path Finding via Closed-Subwalk Collapsing
Yimin Tang, Sven Koenig, Erdem Bıyık
Multi-Agent Path Finding (MAPF) is an NP-hard problem with applications in warehouse automation and multi-robot coordination. Learning-based MAPF solvers offer fast and scalable pl…