6 papers
Visuomotor Robotic Pruning in Planar Orchards Using Hybrid Reinforcement Learning
Abhinav Jain, Cindy Grimm, Stefan Lee
Dormant tree pruning is labor-intensive yet essential for maintaining modern high-productivity fruit orchards. In this work, we focus on pruning of modern planar tree training syst…
Language-conditioned world model improves policy generalization by reading environmental descriptions
Anh Nguyen, Stefan Lee
To interact effectively with humans in the real world, it is important for agents to understand language that describes the dynamics of the environment--that is, how the environmen…
Geometry-Aware Losses for Structure-Preserving Text-to-Sign Language Generation
Zetian Wu, Tianshuo Zhou, Stefan Lee +1
Sign language translation from text to video plays a crucial role in enabling effective communication for Deaf and hard--of--hearing individuals. A major challenge lies in generati…
Harnessing Input-Adaptive Inference for Efficient VLN
Dongwoo Kang, Akhil Perincherry, Zachary Coalson +3
An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observat…
Learning to Prune Branches in Modern Tree-Fruit Orchards
Abhinav Jain, Cindy Grimm, Stefan Lee
Dormant tree pruning is labor-intensive but essential to maintaining modern highly-productive fruit orchards. In this work we present a closed-loop visuomotor controller for roboti…
Do Visual Imaginations Improve Vision-and-Language Navigation Agents?
Akhil Perincherry, Jacob Krantz, Stefan Lee
Vision-and-Language Navigation (VLN) agents are tasked with navigating an unseen environment using natural language instructions. In this work, we study if visual representations o…