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cs.RO2024
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Christopher Agia, Rohan Sinha, Jingyun Yang +4
Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies a…
cs.RO2024★ 4 cited
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Jingyun Yang, Zi-ang Cao, Congyue Deng +3
Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem i…