4 papers
Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions
Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie +3
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, t…
Geometric Red-Teaming for Robotic Manipulation
Divyam Goel, Yufei Wang, Tiancheng Wu +4
Standard evaluation protocols in robotic manipulation typically assess policy performance over curated, in-distribution test sets, offering limited insight into how systems fail un…
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
Yufei Wang, Ziyu Wang, Mino Nakura +5
This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has…
Real-World Offline Reinforcement Learning from Vision Language Model Feedback
Sreyas Venkataraman, Yufei Wang, Ziyu Wang +3
Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety…