1 citations · 1 across the 3 of their papers we have counts for
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AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
Yating Lin, Zixuan Huang, Fan Yang +1
Multivariate time-series anomaly detection, which is critical for identifying unexpected events, has been explored in the field of machine learning for several decades. However, di…
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
Zixuan Huang, Yinong He, Yating Lin +1
Long-horizon contact-rich manipulation has long been a challenging problem, as it requires reasoning over both discrete contact modes and continuous object motion. We introduce Imp…
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
Yating Lin, Glen Chou, Dmitry Berenson
We propose a method for improving the prediction accuracy of learned robot dynamics models on out-of-distribution (OOD) states. We achieve this by leveraging two key sources of str…
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
Zixuan Huang, Yating Lin, Fan Yang +1
Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a…