no code implementations • 31 Oct 2023 • Haohong Lin, Wenhao Ding, Zuxin Liu, Yaru Niu, Jiacheng Zhu, Yuming Niu, Ding Zhao
However, maintaining safety in diverse safety-critical scenarios remains a significant challenge due to long-tailed and unforeseen scenarios absent from offline datasets.
no code implementations • 19 Oct 2023 • Mengdi Xu, Peide Huang, Wenhao Yu, Shiqi Liu, Xilun Zhang, Yaru Niu, Tingnan Zhang, Fei Xia, Jie Tan, Ding Zhao
This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit physical constraints and long-term planning.
no code implementations • 2 Oct 2023 • Yuyou Zhang, Yaru Niu, Xingyu Liu, Ding Zhao
Instead of perceiving the hyper-redundancy and flexibility of snake robots as mere challenges, there lies an unexplored potential in leveraging these traits to enhance robustness and generalizability at the control policy level.
1 code implementation • 27 Jul 2023 • Lingdong Kong, Yaru Niu, Shaoyuan Xie, Hanjiang Hu, Lai Xing Ng, Benoit R. Cottereau, Ding Zhao, Liangjun Zhang, Hesheng Wang, Wei Tsang Ooi, Ruijie Zhu, Ziyang Song, Li Liu, Tianzhu Zhang, Jun Yu, Mohan Jing, Pengwei Li, Xiaohua Qi, Cheng Jin, Yingfeng Chen, Jie Hou, Jie Zhang, Zhen Kan, Qiang Ling, Liang Peng, Minglei Li, Di Xu, Changpeng Yang, Yuanqi Yao, Gang Wu, Jian Kuai, Xianming Liu, Junjun Jiang, Jiamian Huang, Baojun Li, Jiale Chen, Shuang Zhang, Sun Ao, Zhenyu Li, Runze Chen, Haiyong Luo, Fang Zhao, Jingze Yu
In this paper, we summarize the winning solutions from the RoboDepth Challenge -- an academic competition designed to facilitate and advance robust OoD depth estimation.
no code implementations • 9 Mar 2023 • Yaru Niu, Shiyu Jin, Zeqing Zhang, Jiacheng Zhu, Ding Zhao, Liangjun Zhang
In this work, we first formulate the problem of robotic water scooping using goal-conditioned reinforcement learning.
no code implementations • 21 Oct 2022 • Mengdi Xu, Peide Huang, Yaru Niu, Visak Kumar, JieLin Qiu, Chao Fang, Kuan-Hui Lee, Xuewei Qi, Henry Lam, Bo Li, Ding Zhao
One key challenge for multi-task Reinforcement learning (RL) in practice is the absence of task indicators.
no code implementations • 28 Mar 2022 • Lingfeng Sun, Chen Tang, Yaru Niu, Enna Sachdeva, Chiho Choi, Teruhisa Misu, Masayoshi Tomizuka, Wei Zhan
To address these issues, we propose a novel approach to avoid KL vanishing and induce an interpretable interactive latent space with pseudo labels.
1 code implementation • 4 Feb 2022 • Rohan Paleja, Yaru Niu, Andrew Silva, Chace Ritchie, Sugju Choi, Matthew Gombolay
While the performance of these approaches warrants real-world adoption, these policies lack interpretability, limiting deployability in the safety-critical and legally-regulated domain of autonomous driving (AD).
no code implementations • 14 Dec 2020 • Yaru Niu, Yijun Gu
Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently.