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cs.RO2025
Steering Robots with Inference-Time Interactions
Yanwei Wang
Imitation learning has driven the development of generalist policies capable of autonomously solving multiple tasks. However, when a pretrained policy makes errors during deploymen…
cs.RO2025
Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du +6
Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the polic…
cs.RO2025
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection
Michael Hagenow, Dimosthenis Kontogiorgos, Yanwei Wang +1
Previous methods for Learning from Demonstration leverage several approaches for a human to teach motions to a robot, including teleoperation, kinesthetic teaching, and natural dem…