Search Results for author: Yu-Wei Chao

Found 23 papers, 4 papers with code

SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers

no code implementations9 Nov 2023 Sammy Christen, Lan Feng, Wei Yang, Yu-Wei Chao, Otmar Hilliges, Jie Song

In this paper, we introduce a framework that can generate plausible human grasping motions suitable for training the robot.

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

no code implementations10 Jul 2023 Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox

For real-world experiments, AnyTeleop can outperform a previous system that was designed for a specific robot hardware with a higher success rate, using the same robot.

Imitation Learning

RVT: Robotic View Transformer for 3D Object Manipulation

1 code implementation26 Jun 2023 Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox

In simulations, we find that a single RVT model works well across 18 RLBench tasks with 249 task variations, achieving 26% higher relative success than the existing state-of-the-art method (PerAct).

Robot Manipulation

Learning Human-to-Robot Handovers from Point Clouds

no code implementations CVPR 2023 Sammy Christen, Wei Yang, Claudia Pérez-D'Arpino, Otmar Hilliges, Dieter Fox, Yu-Wei Chao

We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction.

DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations

no code implementations28 Sep 2022 Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

The policy learned from our dataset can generalize well on unseen object poses in both simulation and the real world

FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments

2 code implementations6 Jul 2022 Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang

We introduce the Few-Shot Object Learning (FewSOL) dataset for object recognition with a few images per object.

Classification Few-Shot Learning +4

IFOR: Iterative Flow Minimization for Robotic Object Rearrangement

no code implementations CVPR 2022 Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox

Accurate object rearrangement from vision is a crucial problem for a wide variety of real-world robotics applications in unstructured environments.

Optical Flow Estimation

Learning Perceptual Concepts by Bootstrapping from Human Queries

no code implementations9 Nov 2021 Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox

Second, we treat this low-dimensional concept as an automatic labeler to synthesize a large-scale high-dimensional data set with the simulator.

Motion Planning

Reactive Human-to-Robot Handovers of Arbitrary Objects

no code implementations17 Nov 2020 Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox

We demonstrate the generalizability, usability, and robustness of our approach on a novel benchmark set of 26 diverse household objects, a user study with naive users (N=6) handing over a subset of 15 objects, and a systematic evaluation examining different ways of handing objects.

Grasp Generation Motion Planning

Motion Reasoning for Goal-Based Imitation Learning

no code implementations13 Nov 2019 De-An Huang, Yu-Wei Chao, Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox

We further show that by using the automatically inferred goal from the video demonstration, our robot is able to reproduce the same task in a real kitchen environment.

Imitation Learning Motion Planning

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

no code implementations7 Oct 2019 Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks.

Rethinking Numerical Representations for Deep Neural Networks

no code implementations7 Aug 2018 Parker Hill, Babak Zamirai, Shengshuo Lu, Yu-Wei Chao, Michael Laurenzano, Mehrzad Samadi, Marios Papaefthymiou, Scott Mahlke, Thomas Wenisch, Jia Deng, Lingjia Tang, Jason Mars

With ever-increasing computational demand for deep learning, it is critical to investigate the implications of the numeric representation and precision of DNN model weights and activations on computational efficiency.

Learning to Detect Human-Object Interactions

no code implementations17 Feb 2017 Yu-Wei Chao, Yunfan Liu, Xieyang Liu, Huayi Zeng, Jia Deng

We study the problem of detecting human-object interactions (HOI) in static images, defined as predicting a human and an object bounding box with an interaction class label that connects them.

General Classification Human-Object Interaction Detection

HICO: A Benchmark for Recognizing Human-Object Interactions in Images

no code implementations ICCV 2015 Yu-Wei Chao, Zhan Wang, Yugeng He, Jiaxuan Wang, Jia Deng

We introduce a new benchmark "Humans Interacting with Common Objects" (HICO) for recognizing human-object interactions (HOI).

Human-Object Interaction Detection

Mining Semantic Affordances of Visual Object Categories

no code implementations CVPR 2015 Yu-Wei Chao, Zhan Wang, Rada Mihalcea, Jia Deng

In this paper we introduce the new problem of mining the knowledge of semantic affordance: given an object, determining whether an action can be performed on it.

Collaborative Filtering

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