7 accepted papers
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance-situations common in real-world tool use. Existing methods largely optimize grasps for static geometric stability and often fai
We introduce UMI-on-Air, a framework for embodiment-aware deployment of embodiment-agnostic manipulation policies. Our approach leverages diverse, unconstrained human demonstrations collected with a handheld gripper (UMI) to train generalizable visuomotor policies. A central challenge in transferrin…
High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between sensors due to design and manufacturing variations, which result in significant differences in tactile signals. This l…
"For a given scene, humans can easily reason for the locations and pose to place objects. Designing a computational model to reason about these affordances poses a significant challenge, mirroring the intuitive reasoning abilities of humans. This work tackles the problem of realistic human insertion…
We investigate post-OCR correction in a setting where we have access to different OCR views of the same document. The goal of this study is to understand if a pretrained language model (LM) can be used in an unsupervised way to reconcile the different OCR views such that their combination contains f…
In this paper, we establish a theoretical comparison between the asymptotic mean square errors of double Q-learning and Q-learning. Our result builds upon an analysis for linear stochastic approximation based on Lyapunov equations and applies to both tabular setting or with linear function approxima…
We study two time-scale linear stochastic approximation algorithms, which can be used to model well-known reinforcement learning algorithms such as GTD, GTD2, and TDC. We present finite-time performance bounds for the case where the learning rate is fixed. The key idea in obtaining these bounds is t…