5 papers
Learning to See While Learning to Act: Diffusion Models for Active Perception in Robot Imitation
Kuancheng Wang, Vaibhav Saxena, Shuo Cheng +2
Most imitation learning methods assume full observability in table-top settings. In practice, objects are often occluded, requiring robots to both search and act, and learning this…
Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation
Kuancheng Wang, Seungho Yeom, Jinglin Cao +3
Long horizon, contact-rich manipulation is inherently partially observable. This is as a single visual observation rarely captures a robot's full action context, including prior at…
Optimization in Sparse 2D to Dense 3D Weakly Supervised Learning: Application to Multi-Label Segmentation of Large ex vivo MRI Data
Paul Hoareau, Kuan Yi Wang, Brandon Bujak +6
INTRODUCTION | Fully supervised 3D segmentation of high-resolution ex vivo MRI is limited by the prohibitive cost of volumetric annotation, forcing reliance on sparse 2D slices. We…
Evidential Physics-Informed Neural Networks for Scientific Discovery
Hai Siong Tan, Kuancheng Wang, Rafe McBeth
We present the fundamental theory and implementation guidelines underlying Evidential Physics-Informed Neural Network (E-PINN) -- a novel class of uncertainty-aware PINN. It levera…
Evidential Physics-Informed Neural Networks
Hai Siong Tan, Kuancheng Wang, Rafe McBeth
We present a novel class of Physics-Informed Neural Networks that is formulated based on the principles of Evidential Deep Learning, where the model incorporates uncertainty quanti…