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cs.RO2024★ 1 cited
Keypoint Abstraction using Large Models for Object-Relative Imitation Learning
Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao +4
Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been prov…
cs.RO2024
Embodied Uncertainty-Aware Object Segmentation
Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez
We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot percepti…