29 papers
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…
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
Shutong Jin, Jin Yang, Muhammad Zahid +1
In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight…
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2
Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras. However, it remains constrained by the cost of collecting diverse demos, especially for…
An Efficient and Continuous Voronoi Density Estimator
Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava +2
We introduce a non-parametric density estimator deemed Radial Voronoi Density Estimator (RVDE). RVDE is grounded in the geometry of Voronoi tessellations and as such benefits from…