5 papers
ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Models
Yuying Zhang, Wenyan Yang, Francesco Verdoja +2
Imitation learning (IL) algorithms typically distill demonstrations into parametric policies to mimic expert behavior. However, with limited data and partial observability, such as…
ReGIL: Retrieval-Guided Imitation Learning from a Single Demonstration
Yuying Zhang, Francesco Verdoja, Wenyan Yang +1
Learning robot manipulation policies with deep neural networks from a single demonstration remains highly challenging, as even small deviations from the demonstrated trajectory can…
Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors
Yuying Zhang, Joni Pajarinen
Mobile manipulation in dynamic environments is challenging due to movable obstacles blocking the robot's path. Traditional methods, which treat navigation and manipulation as separ…
Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance
Wenyan Yang, Ahmet Tikna, Yi Zhao +4
Visual planning, by offering a sequence of intermediate visual subgoals to a goal-conditioned low-level policy, achieves promising performance on long-horizon manipulation tasks. T…
MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objects
Yuying Zhang, Kevin Sebastian Luck, Francesco Verdoja +2
Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challe…