4 papers
Logit Distillation on Manifolds: Mapping by Learning
Yiru Yang, Junling Wang, Nishant Kumar Singh +2
A simple way to improve the performance of almost any machine learning model is not to train a single but several models with diverse algorithms which will make slightly distinct k…
Genie 4D: Semantic-Prior-Guided 4D Dynamic Scene Reconstruction
Yiru Yang, Zhuojie Wu, Nishant Kumar Singh +1
At the intersection of computer vision and robotic perception, 4D reconstruction of dynamic scenes connects low-level geometric sensing with high-level semantic understanding. We p…
GRITS: A Spillage-Aware Guided Diffusion Policy for Robot Food Scooping Tasks
Yen-Ling Tai, Yi-Ru Yang, Kuan-Ting Yu +2
Robotic food scooping is a critical manipulation skill for food preparation and service robots. However, existing robot learning algorithms, especially learn-from-demonstration met…
Mitigating Cross-Modal Distraction and Ensuring Geometric Feasibility via Affordance-Guided and Self-Consistent MLLMs for Task Planning in Instruction-Following Manipulation
Yu-Hong Shen, Chuan-Yu Wu, Yi-Ru Yang +2
We investigate the use of Multimodal Large Language Models (MLLMs) with in-context learning for closed-loop task planning in instruction-following manipulation. We identify four es…