48 papers
TaPeR: Probabilistic Recovery of Sparse Task Precedence Graphs from a Handful of Demonstrations
Adrian Röfer, Karla Stepanova, Abhinav Valada
Long-horizon manipulation tasks are often only partially ordered. For example, when assembling an electronic device, the battery and circuit board may be installed in either order,…
Wasserstein Filtering: A Sample Selection Method for Robust Distribution Learning
Yikai Xu, Zhao Chen, Jian Huang
Given a dataset where a portion of the samples are contaminated, our goal is to recover the underlying clean population distribution. To this end, we propose Wasserstein Filtering…
Human-Centered Reflections on Care Robots: A Comparative Study of Caregiver Perspectives
Laura Londoño, Klaus Baumann, Abhinav Valada +1
Care robots are increasingly being introduced into healthcare settings, raising important questions about their acceptance and ethical implementation. To better understand these ch…
One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments
Jan Ole von Hartz, Abhinav Valada, Joschka Boedecker
Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames. However, existing…
GraphPilot: Grounded Scene Graph Conditioning for Language-Based Autonomous Driving
Fabian Schmidt, Markus Enzweiler, Abhinav Valada
Vision-language models have recently emerged as promising planners for autonomous driving, where success hinges on topology-aware reasoning over spatial structure and dynamic inter…
Class-Incremental Motion Forecasting
Nicolas Schischka, Nikhil Gosala, B Ravi Kiran +2
Motion forecasting enables autonomous vehicles to anticipate scene evolution by predicting the future trajectories of dynamic agents. However, existing approaches typically assume…