1 citations · 2 across the 12 of their papers we have counts for
6 papers · 1 filter
INSPECT: Learning Robot View Selection from Assistant Use
Di Wen, Kailun Yang, Wenhao Guo +7
Robots inspecting an assembly must determine which parts are present and whether they are correctly installed. During egocentric assembly assistance, head motion and workpiece hand…
MS-MEM: Multi-Skill Manipulation-Enhanced Mapping via Uncertainty- and Disturbance-Aware Action Selection
Yitian Shi, Jesper Mücke, Nils Dengler +3
Accurate scene understanding in confined, cluttered spaces such as shelves is essential for service robots, as many everyday tasks require them to locate and retrieve objects relia…
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Object Category-agnostic Temporal Localization
Yitian Shi, Di Wen, Zhengqi Han +6
Human videos provide a scalable source of demonstrations for robot imitation learning. However, converting them into executable and semantically aligned robot trajectories requires…
IMPACT: A Dataset for Multi-Granularity Human Procedural Action Understanding in Industrial Assembly
Di Wen, Zeyun Zhong, David Schneider +18
We introduce IMPACT, a synchronized five-view RGB-D dataset for deployment-oriented industrial procedural understanding, built around real assembly and disassembly of a commercial…
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…
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…