Anrui Gu — accepted AI-conference papers

2023

IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors

Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg

CoRL 2023poster

Imitation learning has been applied to a range of robotic tasks, but can struggle when robots encounter edge cases that are not represented in the training data (i.e., distribution shift). Interactive fleet learning (IFL) mitigates distribution shift by allowing robots to access remote human supervi…

Cited by 5 Source ↗code ↗Scholar ↗

2023

SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski +3

ICRA 2023poster

Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that interact with the cable to reduce perception uncertainty. We…

Cited by 20 Source ↗Scholar ↗