5 papers
ATLAS: An Annotation Tool for Long-horizon Robotic Action Segmentation
Sergej Stanovcic, Daniel Sliwowski, Dongheui Lee
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning m…
M2R2: MultiModal Robotic Representation for Temporal Action Segmentation
Daniel Sliwowski, Dongheui Lee
Temporal action segmentation (TAS) has long been a key area of research in both robotics and computer vision. In robotics, algorithms have primarily focused on leveraging proprioce…
Multimodal Anomaly Detection with a Mixture-of-Experts
Christoph Willibald, Daniel Sliwowski, Dongheui Lee
With a growing number of robots being deployed across diverse applications, robust multimodal anomaly detection becomes increasingly important. In robotic manipulation, failures ty…
Hierarchical Task Decomposition for Execution Monitoring and Error Recovery: Understanding the Rationale Behind Task Demonstrations
Christoph Willibald, Dongheui Lee
Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to e…
REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
Daniel Sliwowski, Shail Jadav, Sergej Stanovcic +3
Robotic manipulation remains a core challenge in robotics, particularly for contact-rich tasks such as industrial assembly and disassembly. Existing datasets have significantly adv…