7 accepted papers
Condensed datasets offer a compact representation of larger datasets, but training models directly on them or using them to enhance model performance through knowledge distillation (KD) can result in suboptimal outcomes due to limited information. To address this, we propose a method that expands co
The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, using multiple cameras in real-world scenarios can be challenging. In this study, we present a novel approach to enhance the generalization performance
Robots are increasingly expected to manipulate objects, of which properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object manipulation. Object packing is one of the challenging tasks in robot manipulation. In this work, a new visuo-tactile
Sampling-based motion planning under task constraints is challenging because the null-measure constraint manifold in the configuration space makes rejection sampling extremely inefficient, if not impossible. This paper presents a learning-based sampling strategy for constrained motion planning probl…
The domain of robotics is challenging to apply deep reinforcement learning due to the need for large amounts of data and for ensuring safety during learning. Curriculum learning has shown good performance in terms of sample-efficient deep learning. In this paper, we propose an algorithm (named GloCA…
This paper introduces a general state estimation framework fusing multiple sensor information for hybrid wheeled-legged robots performing mobile manipulation tasks. At the core of the state estimator is a novel unified odometry for hybrid locomotion which can seamlessly maintain tracking and has no…
This paper proposes an improved supervised autonomy framework for remote teleoperation of a quadrupedal bimanual mobile manipulator in an unknown environment, with the usage of advanced perception technology and allowing the operator to easily assist the robot with decision making for executing task…