6 papers
LongComp: Long-Tail Compositional Zero-Shot Generalization for Robust Trajectory Prediction
Benjamin Stoler, Jonathan Francis, Jean Oh
Methods for trajectory prediction in Autonomous Driving must contend with rare, safety-critical scenarios that make reliance on real-world data collection alone infeasible. To asse…
RCG: Safety-Critical Scenario Generation for Robust Autonomous Driving via Real-World Crash Grounding
Benjamin Stoler, Juliet Yang, Jonathan Francis +1
Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we p…
Visuo-Acoustic Hand Pose and Contact Estimation
Yuemin Mao, Uksang Yoo, Yunchao Yao +5
Accurately estimating hand pose and hand-object contact events is essential for robot data-collection, immersive virtual environments, and biomechanical analysis, yet remains chall…
STRIVE: Structured Representation Integrating VLM Reasoning for Efficient Object Navigation
Haokun Zhu, Zongtai Li, Zhixuan Liu +4
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs t…
MOSAIC: Generating Consistent, Privacy-Preserving Scenes from Multiple Depth Views in Multi-Room Environments
Zhixuan Liu, Haokun Zhu, Rui Chen +4
We introduce a diffusion-based approach for generating privacy-preserving digital twins of multi-room indoor environments from depth images only. Central to our approach is a novel…
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo, Jonathan Francis, Jean Oh +1
Underactuated soft robot hands offer inherent safety and adaptability advantages over rigid systems, but developing dexterous manipulation skills remains challenging. While imitati…