8 papers · 1 filter
Bilinear Flow Policy: Distributional Extrapolation for Goal-Conditioned Visuomotor Imitation
Wonsuhk Jung, Sundhar Vinodh Sangeetha, Chen Xu +4
Goal-conditioned imitation learning (GCIL) with flow matching is a promising framework that can represent multimodal behaviors while adapting to diverse, user-specified goals, yet…
Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play
Seunghoon Cho, Wonsuhk Jung, Sundhar Vinodh Sangeetha +1
Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the le…
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
Joint Model-based Model-free Diffusion for Planning with Constraints
Wonsuhk Jung, Utkarsh A. Mishra, Nadun Ranawaka Arachchige +3
Model-free diffusion planners have shown great promise for robot motion planning, but practical robotic systems often require combining them with model-based optimization modules t…
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung +8
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined…
RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution
Wonsuhk Jung, Dennis Anthony, Utkarsh A. Mishra +4
Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deplo…
Guaranteed Reach-Avoid for Black-Box Systems through Narrow Gaps via Neural Network Reachability
Long Kiu Chung, Wonsuhk Jung, Srivatsank Pullabhotla +6
In the classical reach-avoid problem, autonomous mobile robots are tasked to reach a goal while avoiding obstacles. However, it is difficult to provide guarantees on the robot's pe…
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation
Long Kiu Chung, Wonsuhk Jung, Chuizheng Kong +1
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a g…