5 papers
In View or Out of View? A Vision-Aware Filter that Infers and Reacts to the Human's Field of View
Mengxue Fu, Ya-Chuan Hsu, Yinlong Dai +2
During human-robot interaction, sight plays an important role. When the human sees a robot, they can observe the robot's actions and better predict the robot's future behaviors. Co…
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2
Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- th…
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans +2
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized prob…
Prepare Before You Act: Learning From Humans to Rearrange Initial States
Yinlong Dai, Andre Keyser, Dylan P. Losey
Imitation learning (IL) has proven effective across a wide range of manipulation tasks. However, IL policies often struggle when faced with out-of-distribution observations; for in…
CIVIL: Causal and Intuitive Visual Imitation Learning
Yinlong Dai, Robert Ramirez Sanchez, Ryan Jeronimus +4
Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert.…