5 papers
Learning to Absorb Corrections: Critic-Weighted Residual Flow for Vision-Based Insertion
Yiqing Yuan, Zhi Li, Jinrong Yang +5
Vision-based insertion requires correcting alignment errors while retaining useful behavior learned from demonstrations. We present ACT--Flow, an online learning framework that cou…
SAM2Grasp: Resolve Multi-modal Grasping via Prompt-conditioned Temporal Action Prediction
Shengkai Wu, Jinrong Yang, Wenqiu Luo +7
Imitation learning for robotic grasping is often plagued by the multimodal problem: when a scene contains multiple valid targets, demonstrations of grasping different objects creat…
Sim-to-Real Dynamic Object Manipulation on Conveyor Systems via Optimization Path Shaping
Zhuoling Li, Jinrong Yang, Yong Zhao +4
Realizing generalizable dynamic object manipulation on conveyor systems is important for enhancing manufacturing efficiency, as it eliminates specialized engineering for different…
Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
Jinrong Yang, Kexun Chen, Zhuoling Li +9
Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high…
VIP: Vision Instructed Pre-training for Robotic Manipulation
Zhuoling Li, Liangliang Ren, Jinrong Yang +5
The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would b…