no code implementations • 26 Apr 2024 • Haohong Lin, Radu Corcodel, Ding Zhao
Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan.
no code implementations • 11 Dec 2023 • Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI.
no code implementations • 27 Jun 2023 • Chiori Hori, Puyuan Peng, David Harwath, Xinyu Liu, Kei Ota, Siddarth Jain, Radu Corcodel, Devesh Jha, Diego Romeres, Jonathan Le Roux
This paper introduces a method for robot action sequence generation from instruction videos using (1) an audio-visual Transformer that converts audio-visual features and instruction speech to a sequence of robot actions called dynamic movement primitives (DMPs) and (2) style-transfer-based training that employs multi-task learning with video captioning and weakly-supervised learning with a semantic classifier to exploit unpaired video-action data.
no code implementations • 28 Sep 2022 • Seiji Shaw, Devesh K. Jha, Arvind Raghunathan, Radu Corcodel, Diego Romeres, George Konidaris, Daniel Nikovski
In this paper, we present constrained dynamic movement primitives (CDMP) which can allow for constraint satisfaction in the robot workspace.
no code implementations • 5 Aug 2021 • Reazul Hasan Russel, Mouhacine Benosman, Jeroen van Baar, Radu Corcodel
Safety and robustness are two desired properties for any reinforcement learning algorithm.