2 citations · 5 across the 26 of their papers we have counts for
36 papers
Localized Visual Feature Aggregation via Focus Pooling for Visuomotor Policies
Ruiyu Wang, Zheyu Zhuang, Danica Kragic +1
Focusing on spatially localized, control-relevant visual cues has been shown to improve data efficiency in visuomotor policies by reducing the need to model task-irrelevant visual…
Attention from Action, for Action: Emergent Visual Bottlenecks for Policy Learning
Zheyu Zhuang, Ruiyu Wang, Nick Heppert +4
Visual bottlenecks that focus policy inputs on regions of interest (ROIs) can improve data-efficient visuomotor learning by separating where to look from how to act. Many ROI inter…
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2
Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras. However, it remains constrained by the cost of collecting diverse demos, especially for…
Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
Andreas Orthey, Florian T. Pokorny, Lydia E. Kavraki
State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However,…