10 papers
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
Shutong Jin, Jin Yang, Muhammad Zahid +1
In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight…
Adversarial Attacks on Learned Policies for Surgical Robotic Tasks
Shutong Jin, Ziyang Chen, Preethi Satish +3
Learning-based policies are being considered to augment the dexterity of human surgeons in robot-assisted surgery. Can the end-to-end mapping from visual observations to robot acti…
Speculative Policy Orchestration: A Latency-Resilient Framework for Cloud-Robotic Manipulation
Chanh Nguyen, Shutong Jin, Florian T. Pokorny +1
Cloud robotics enables robots to offload high-dimensional motion planning and reasoning to remote servers. However, for continuous manipulation tasks requiring high-frequency contr…
One-Shot Federated Learning with Classifier-Free Diffusion Models
Obaidullah Zaland, Shutong Jin, Florian T. Pokorny +1
Federated learning (FL) enables collaborative learning without data centralization but introduces significant communication costs due to multiple communication rounds between clien…
ReLumix: Extending Image Relighting to Video via Video Diffusion Models
Lezhong Wang, Shutong Jin, Ruiqi Cui +3
Controlling illumination during video post-production is a crucial yet elusive goal in computational photography. Existing methods often lack flexibility, restricting users to cert…
Physically-based Lighting Generation for Robotic Manipulation
Shutong Jin, Lezhong Wang, Ben Temming +1
In this paper, we propose the first framework that leverages physically-based inverse rendering for novel lighting generation on existing real-world human demonstrations of robotic…