3 papers
cs.LG2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
Zhanpeng He, Yifeng Cao, Matei Ciocarlie
Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and…
cs.RO2025
Do You Need Proprioceptive States in Visuomotor Policies?
Juntu Zhao, Wenbo Lu, Di Zhang +10
Imitation-learning-based visuomotor policies have been widely used in robot manipulation, where both visual observations and proprioceptive states are typically adopted together fo…
cs.RO2024
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar +2
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about p…