4 papers · 1 filter
Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller +1
Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics…
Do Vision-Language Models Represent Space and How? Evaluating Spatial Frame of Reference Under Ambiguities
Zheyuan Zhang, Fengyuan Hu, Jayjun Lee +4
Spatial expressions in situated communication can be ambiguous, as their meanings vary depending on the frames of reference (FoR) adopted by speakers and listeners. While spatial l…
RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning
Yinpei Dai, Jayjun Lee, Nima Fazeli +1
Developing robust and correctable visuomotor policies for robotic manipulation is challenging due to the lack of self-recovery mechanisms from failures and the limitations of simpl…
Visual-auditory Extrinsic Contact Estimation
Xili Yi, Jayjun Lee, Nima Fazeli
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are…