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cs.RO2024
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…
cs.RO2024
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
Utkarsh A. Mishra, Yongxin Chen, Danfei Xu
Learning to plan for multi-step, multi-manipulator tasks is notoriously difficult because of the large search space and the complex constraint satisfaction problems. We present Gen…