9 citations · 14 across the 9 of their papers we have counts for
3 papers · 1 filter
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
Liyiming Ke, Yunchu Zhang, Abhay Deshpande +2
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing…
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement
Nikolaos Gkanatsios, Ayush Jain, Zhou Xian +3
Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is…
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions
Yunchu Zhang, Liyiming Ke, Abhay Deshpande +2
Grasping small objects surrounded by unstable or non-rigid material plays a crucial role in applications such as surgery, harvesting, construction, disaster recovery, and assisted…