64 citations · 192 across the 44 of their papers we have counts for
5 papers · 2 filters
Learning active tactile perception through belief-space control
Jean-François Tremblay, David Meger, Francois Hogan +1
Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties t…
Generalizable Imitation Learning Through Pre-Trained Representations
Wei-Di Chang, Francois Hogan, Scott Fujimoto +2
In this paper, we leverage self-supervised vision transformer models and their emergent semantic abilities to improve the generalization abilities of imitation learning policies. W…
Imitation Learning from Observation through Optimal Transport
Wei-Di Chang, Scott Fujimoto, David Meger +1
Imitation Learning from Observation (ILfO) is a setting in which a learner tries to imitate the behavior of an expert, using only observational data and without the direct guidance…
Uncertainty-aware hybrid paradigm of nonlinear MPC and model-based RL for offroad navigation: Exploration of transformers in the predictive model
Faraz Lotfi, Khalil Virji, Farnoosh Faraji +4
In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an auton…
ANSEL Photobot: A Robot Event Photographer with Semantic Intelligence
Dmitriy Rivkin, Gregory Dudek, Nikhil Kakodkar +4
Our work examines the way in which large language models can be used for robotic planning and sampling, specifically the context of automated photographic documentation. Specifical…