5 papers
More with LESS -- Local Scene Representations for Tactile Imaging
Zohar Rimon, Elisei Shafer, Tal Tepper +4
Tactile imaging seeks to reconstruct the internal structure of soft objects through touch sensing, with applications in medical diagnosis and robotic manipulation. Recent self-supe…
Towards End to End Motion Planning and Execution for Autonomous Underwater Vehicles Using Reinforcement Learning
Elisei Shafer, Oren Gal
Autonomous Underwater Vehicles (AUVs) traditionally rely on complex, heavily engineered pipelines for perception, path planning, and motion control. This paper explores the feasibi…
Toward Artificial Palpation: Representation Learning of Touch on Soft Bodies
Zohar Rimon, Elisei Shafer, Tal Tepper +2
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-su…
Blindfolded Experts Generalize Better: Insights from Robotic Manipulation and Videogames
Ev Zisselman, Mirco Mutti, Shelly Francis-Meretzki +2
Behavioral cloning is a simple yet effective technique for learning sequential decision-making from demonstrations. Recently, it has gained prominence as the core of foundation mod…
Fine-Tuning Generative Models as an Inference Method for Robotic Tasks
Orr Krupnik, Elisei Shafer, Tom Jurgenson +1
Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian infere…