no code implementations • 9 May 2024 • Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills.
no code implementations • 6 May 2024 • Weiyu Liu, Geng Chen, Joy Hsu, Jiayuan Mao, Jiajun Wu
This paper presents a framework for learning state and action abstractions in sequential decision-making domains.
no code implementations • 30 Apr 2024 • Chun Feng, Joy Hsu, Weiyu Liu, Jiajun Wu
We propose the Language-Regularized Concept Learner (LARC), which uses constraints from language as regularization to significantly improve the accuracy of neuro-symbolic concept learners in the naturally supervised setting.
no code implementations • 8 Nov 2022 • Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton
StructDiffusion even improves the success rate of assembling physically-valid structures out of unseen objects by on average 16% over an existing multi-modal transformer model trained on specific structures.
no code implementations • 19 Oct 2021 • Weiyu Liu, Chris Paxton, Tucker Hermans, Dieter Fox
Geometric organization of objects into semantically meaningful arrangements pervades the built world.
no code implementations • 10 May 2021 • Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova
We validated the approach on a physical platform, which resulted in the successful generalization of initial task plans to 38 of 50 execution environments with errors resulting from autonomous robot operation included.
1 code implementation • 12 Nov 2020 • Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta
This is largely due to the scale of the datasets both in terms of the number of objects and tasks studied.
1 code implementation • 24 Sep 2019 • Weiyu Liu, Angel Daruna, Sonia Chernova
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks.
Robotics
no code implementations • 29 May 2019 • Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova
Service robots benefit from encoding information in semantically meaningful ways to enable more robust task execution.
1 code implementation • 26 May 2019 • Weiyu Liu, Angel Daruna, Zsolt Kira, Sonia Chernova
The objective of the knowledge base completion problem is to infer missing information from existing facts in a knowledge base.
no code implementations • 24 Mar 2019 • Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova
Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes.