14 papers · 1 filter
Rewind-IL: Online Failure Detection and State Respawning for Imitation Learning
Gehan Zheng, Sanjay Seenivasan, Matthew Johnson-Roberson +1
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-ho…
Efficient Construction of Implicit Surface Models From a Single Image for Motion Generation
Wei-Teng Chu, Tianyi Zhang, Matthew Johnson-Roberson +1
Implicit representations have been widely applied in robotics for obstacle avoidance and path planning. In this paper, we explore the problem of constructing an implicit distance r…
Cross-Modal Instructions for Robot Motion Generation
William Barron, Xiaoxiang Dong, Matthew Johnson-Roberson +1
Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has ex…
Joint Flow Trajectory Optimization For Feasible Robot Motion Generation from Video Demonstrations
Xiaoxiang Dong, Matthew Johnson-Roberson, Weiming Zhi
Learning from human video demonstrations offers a scalable alternative to teleoperation or kinesthetic teaching, but poses challenges for robot manipulators due to embodiment diffe…
Bi-Manual Joint Camera Calibration and Scene Representation
Haozhan Tang, Tianyi Zhang, Matthew Johnson-Roberson +1
Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or ev…
From Single Images to Motion Policies via Video-Generation Environment Representations
Weiming Zhi, Ziyong Ma, Tianyi Zhang +1
Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of con…