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Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…

The visuomotor policy can easily overfit to its training datasets, such as fixed camera positions and backgrounds. This overfitting makes the policy perform well in the in-distribution scenarios but underperform in the out-of-distribution…

Imitation learning, e.g., diffusion policy, has been proven effective in various robotic manipulation tasks. However, extensive demonstrations are required for policy robustness and generalization. To reduce the demonstration reliance, we…

Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop…

It is crucial that users are empowered to take advantage of the functionality of a robot and use their understanding of that functionality to perform novel and creative tasks. Given a robot trained with Reinforcement Learning (RL), a user…

Out-of-distribution detection (OOD) is a pivotal task for real-world applications that trains models to identify samples that are distributionally different from the in-distribution (ID) data during testing. Recent advances in AI,…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…

Current efforts to learn scalable policies in robotic manipulation primarily fall into two categories: one focuses on "action," which involves behavior cloning from extensive collections of robotic data, while the other emphasizes "vision,"…

Foundational models, trained on vast and diverse datasets, have demonstrated remarkable capabilities in generalizing across different domains and distributions for various zero-shot tasks. Our work addresses the challenge of retaining these…

Out-of-distribution (OOD) generalization, where the model needs to handle distribution shifts from training, is a major challenge of machine learning. Contrastive language-image pre-training (CLIP) models have shown impressive zero-shot…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

Out-of-Distribution (OOD) detection is crucial for the secure deployment of machine learning models, and prototype-based learning methods are among the mainstream strategies for achieving OOD detection. Existing prototype-based learning…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

Human-aligned deep learning models exhibit behaviors consistent with human values, such as robustness, fairness, and honesty. Transferring these behavioral properties to models trained on different tasks or data distributions remains…

Robust generalization in robotic manipulation is crucial for robots to adapt flexibly to diverse environments. Existing methods usually improve generalization by scaling data and networks, but model tasks independently and overlook…

Contact-rich assembly is fundamental in robotics but poses significant challenges due to uncertainties in relative poses, such as misalignments and small clearances in peg-in-hole tasks. Existing approaches typically address search and…