3 papers
cs.RO2024
Large Language Models as Zero-Shot Human Models for Human-Robot Interaction
Bowen Zhang, Harold Soh
Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, c…
cs.LG2024
Generative Modeling with Flow-Guided Density Ratio Learning
Alvin Heng, Abdul Fatir Ansari, Harold Soh
We present Flow-Guided Density Ratio Learning (FDRL), a simple and scalable approach to generative modeling which builds on the stale (time-independent) approximation of the gradie…
cs.RO2024
GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps
Tasbolat Taunyazov, Kelvin Lin, Harold Soh
This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranki…