Yixuan Huang

Yixuan Huang, Jialin Yuan, Chanho Kim et al. · nvidia

Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and planning framework. We propose DOOM and LOOM, which leverage transformer relational dynamics to encode the history of trajectories given partial-view point clouds and an object discovery and tracking engine. Our approaches can perform multiple challenging tasks including reasoning with occluded objects, novel objects appearance, and object reappearance. Throughout our extensive simulation and real-world experiments, we find that our approaches perform well in terms of different numbers of objects and different numbers of distractor actions. Furthermore, we show our approaches outperform an implicit memory baseline.

Wenhao Li, Yixuan Huang, Shengxin Zhu

This paper revisits the error analysis of the Stochastic Lanczos Quadrature (SLQ) method for approximating the trace of matrix functions, with a specific focus on asymmetric Lanczos quadrature rules. We reexplain an existing theoretical discrepancy regarding the necessity of a scaling factor when applying an affine transformation from the reference interval to the physical spectral interval. Furthermore, we introduce an optimized error reallocation technique for log-determinant estimation. Rather than evenly splitting the error tolerance between the Hutchinson trace estimator and the Lanczos quadrature, we formulate an optimization problem to strategically distribute the error budget. This approach minimizes the total number of matrix-vector multiplications (MVMs) required to reach a target accuracy for both Rademacher and Gaussian queries. Numerical experiments validate that this reallocation yields tighter theoretical bounds and provides a concrete rule-of-thumb for parameter configuration: to achieve a target accuracy efficiently, more computational resources should be allocated to the Lanczos process (larger m) rather than Monte Carlo sampling (smaller N).

Yixuan Huang, Michael Bentley, Tucker Hermans et al.

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help reduce surgeon strain in the face of a rapidly growing population. However, directly encoding surgical tasks and their associated context for these robots is infeasible. In this work we take steps toward a system that is able to learn to successfully perform context-dependent surgical tasks by learning directly from a set of expert demonstrations. We present three models trained on the demonstrations conditioned on a vector encoding the context of the demonstration. We then use these models to plan and execute motions for the tendon-driven robot similar to the demonstrations for novel context not seen in the training set. We demonstrate the efficacy of our method on three surgery-inspired tasks.