Selected Publications |
Equivariance Imitation Learning
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Failure Detection
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Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and
Progress
Christopher Agia
,
Rohan Sinha
,
Jingyun Yang
,
Zi-ang Cao,
Rika Antonova
,
Marco Pavone
,
Jeannette Bohg
Conference on Robot Learning (CoRL),
2024
[arXiv]
[Project Site]
Robot behavior policies trained via imitation learning are prone to failure under conditions that
deviate
from
their training data.
In this work, we present Sentinel, a runtime monitor that detects unknown failures (requiring no data of
failures) of generative robot policies at deployment time.
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Sim 2 Real
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