8 papers · 1 filter
Sling2Sim2Real: One-Shot Elastic System Identification for Non-Destructive Slingshot Policy Learning
Wonjae Kang, Geonwoo Kim, Minseok Song +1
Elastic object manipulation (EOM) involves highdimensional, nonlinear, and elastic deformations. The diverse deformation properties of elastic objects substantially expand the rele…
A Visuo-Tactile Data Collection System with Haptic Feedback for Coarse-to-Fine Imitation Learning
Yeseung Kim, Nayoung Oh, Jun Park +2
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the…
SuReNav: Superpixel Graph-based Constraint Relaxation for Navigation in Over-constrained Environments
Keonyoung Koh, Moonkyeong Jung, Samuel Seungsup Lee +1
We address the over-constrained planning problem in semi-static environments. The planning objective is to find a best-effort solution that avoids all hard constraint regions while…
C2F-Space: Coarse-to-Fine Space Grounding for Spatial Instructions using Vision-Language Models
Nayoung Oh, Dohyun Kim, Junhyeong Bang +2
Space grounding refers to localizing a set of spatial references described in natural language instructions. Traditional methods often fail to account for complex reasoning -- such…
ILCL: Inverse Logic-Constraint Learning from Temporally Constrained Demonstrations
Minwoo Cho, Jaehwi Jang, Daehyung Park
We aim to solve the problem of temporal-constraint learning from demonstrations to reproduce demonstration-like logic-constrained behaviors. Learning logic constraints is challengi…
Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations
Minseok Song, JeongHo Ha, Bonggyeong Park +1
We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy…