13 papers
Bimanual High-Density EMG Control for In-Home Mobile Manipulation by Users with Quadriplegia
Jehan Yang, Eleanor Hodgson, Cindy Sun +2
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. How…
Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions
Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie +3
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, t…
Geometric Red-Teaming for Robotic Manipulation
Divyam Goel, Yufei Wang, Tiancheng Wu +4
Standard evaluation protocols in robotic manipulation typically assess policy performance over curated, in-distribution test sets, offering limited insight into how systems fail un…
Real-World Offline Reinforcement Learning from Vision Language Model Feedback
Sreyas Venkataraman, Yufei Wang, Ziyu Wang +3
Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety…
Incremental Learning for Robot Shared Autonomy
Yiran Tao, Guixiu Qiao, Dan Ding +1
Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain sta…
DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning
Weikang Wan, Ziyu Wang, Yufei Wang +2
This paper introduces DiffTORI, which utilizes Differentiable Trajectory Optimization as the policy representation to generate actions for deep Reinforcement and Imitation learning…