7 papers
CARD: Contact-Anchored Retargeting for Dexterous Manipulation
Cunxi Dai, Botao He, Francois R Hogan +7
Humans are dexterous, but traditional data collection paradigms such as teleoperation, kinesthetic teaching, and wearable exoskeletons force humans to act through the robot embodim…
Asymptotically Robust Learning-Augmented Algorithms for Preemptive FIFO Buffer Management
Wen-Han Hsieh, Ya-Chun Liang
We present a learning-augmented online algorithm for the preemptive FIFO buffer management problem, where packets arrive online to a finite-capacity buffer, must be transmitted in…
Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang +4
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex…
Seg the HAB: Language-Guided Geospatial Algae Bloom Reasoning and Segmentation
Patterson Hsieh, Jerry Yeh, Mao-Chi He +2
Climate change is intensifying the occurrence of harmful algal bloom (HAB), particularly cyanobacteria, which threaten aquatic ecosystems and human health through oxygen depletion,…
Do What? Teaching Vision-Language-Action Models to Reject the Impossible
Wen-Han Hsieh, Elvis Hsieh, Dantong Niu +3
Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions p…
LISAT: Language-Instructed Segmentation Assistant for Satellite Imagery
Jerome Quenum, Wen-Han Hsieh, Tsung-Han Wu +3
Segmentation models can recognize a pre-defined set of objects in images. However, models that can reason over complex user queries that implicitly refer to multiple objects of int…
Optimizing TD3 for 7-DOF Robotic Arm Grasping: Overcoming Suboptimality with Exploration-Enhanced Contrastive Learning
Wen-Han Hsieh, Jen-Yuan Chang
In actor-critic-based reinforcement learning algorithms such as Twin Delayed Deep Deterministic policy gradient (TD3), insufficient exploration of the spatial space can result in s…