10 papers
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization
Yitian Shi, Di Wen, Zhengqi Han +6
Learning from human video demonstrations remains challenging due to noisy hand-object interactions, unseen objects with partial observation, and cross-embodiment discrepancy. To ad…
FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
Edgar Welte, Yitian Shi, Rosa Wolf +2
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and w…
Tracing Back Error Sources to Explain and Mitigate Pose Estimation Failures
Loris Schneider, Yitian Shi, Rosa Wolf +3
Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single…
HOGraspFlow: Taxonomy-Aware Hand-Object Retargeting for Multi-Modal SE(3) Grasp Generation
Yitian Shi, Zicheng Guo, Rosa Wolf +2
We propose Hand-Object\emph{(HO)GraspFlow}, an affordance-centric approach that retargets a single RGB with hand-object interaction (HOI) into multi-modal executable parallel jaw g…
Human-Interpretable Uncertainty Explanations for Point Cloud Registration
Johannes A. Gaus, Loris Schneider, Yitian Shi +3
In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and part…
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Edgar Welte, Rania Rayyes
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are u…