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Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning
George Jiayuan Gao, Tianyu Li, Nadia Figueroa
We propose an object-centric recovery (OCR) framework to address the challenges of out-of-distribution (OOD) scenarios in visuomotor policy learning. Previous behavior cloning (BC)…
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation
Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian +3
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks int…
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
Zhiquan Zhang, Tianyu Li, Nadia Figueroa
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control law…