4 papers · 1 filter
It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation
Giovanni D'urso, Kaushik Roy, Nicholas Lawrance +1
Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies remain brittle to visual `nuisances', with even minor task-preserving v…
MobiGuide: Vocabulary-Guided Online Recovery for Mobile Manipulation
Jia Syuen Lim, Zhizhen Zhang, Peter Bohm +3
A central challenge in mobile manipulation is preserving multiple plausible action modes while remaining reactive during execution. For example, grasping a bottle in a cluttered sc…
SPREAD: Subspace Representation Distillation for Lifelong Imitation Learning
Kaushik Roy, Giovanni D'urso, Nicholas Lawrance +2
A key challenge in lifelong imitation learning (LIL) is enabling agents to acquire new skills from expert demonstrations while retaining prior knowledge. This requires preserving t…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
Humphrey Munn, Brendan Tidd, Peter Bohm +2
Deploying learned control policies is risky because policies that appear robust in simulation can confidently enter out-of-distribution (OOD) states after Sim-to-Real transfer, cau…