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INSIGHT: INference-time Sequence Introspection for Generating Help Triggers in Vision-Language-Action Models
Ulas Berk Karli, Ziyao Shangguan, Tesca FItzgerald
Recent Vision-Language-Action (VLA) models show strong generalization capabilities, yet they lack introspective mechanisms for anticipating failures and requesting help from a huma…
TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalization
Yuxuan Ding, Shuangge Wang, Tesca Fitzgerald
Robots often struggle to generalize from a single demonstration due to the lack of a transferable and interpretable spatial representation. In this work, we introduce TReF-6, a met…
Effects of Robot Competency and Motion Legibility on Human Correction Feedback
Shuangge Wang, Anjiabei Wang, Sofiya Goncharova +2
As robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prio…