Yafei (Jeffrey) Hu

Hi there, I’m Yafei (Jeffrey) Hu. I’m currently a PhD student at CMU ECE department. I work with Prof. Sebastian Scherer in CMU Robotics Institute. I’m interested in perception, reinforcement learning, and decision making for robotics.

publications

Learning Generalizable Feature Fields for Mobile Manipulation

Ri-Zhao Qiu*, Yafei Hu*, Ge Yang, Yuchen Song, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, and Xiaolong Wang

In arXiv preprint arXiv:2403.07563 2024

Bib HTML PDF

@inproceedings{qiuhu2024geff,
  abbr = {qiuhu2024geff},
  title = {Learning Generalizable Feature Fields for Mobile Manipulation},
  author = {Qiu*, Ri-Zhao and Hu*, Yafei and Yang, Ge and Song, Yuchen and Fu, Yang and Ye, Jianglong and Mu, Jiteng and Yang, Ruihan and Atanasov, Nikolay and Scherer, Sebastian and Wang, Xiaolong},
  year = {2024},
  booktitle = {arXiv preprint arXiv:2403.07563},
  html = {https://geff-b1.github.io/},
  pdf = {https://arxiv.org/pdf/2403.07563.pdf},
  bibtex_show = {true},
  selected = {true}
}

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Yafei Hu*, Quanting Xie*, Vidhi Jain*, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Zhibo Zhao, Yu-Quan Chong, Chen Wang, Katia Sycara, Matthew Johnson-Roberson, Dhruv Batra, Xiaolong Wang, Sebastian Scherer, Zsolt Kira, Fei Xia, and Yonatan Bisk

In arXiv:2312.08782 2023

Bib HTML PDF

@inproceedings{hu2023robofm,
  abbr = {hu2023robofm},
  title = {Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis},
  author = {Hu*, Yafei and Xie*, Quanting and Jain*, Vidhi and Francis, Jonathan and Patrikar, Jay and Keetha, Nikhil and Kim, Seungchan and Xie, Yaqi and Zhang, Tianyi and Zhao, Zhibo and Chong, Yu-Quan and Wang, Chen and Sycara, Katia and Johnson-Roberson, Matthew and Batra, Dhruv and Wang, Xiaolong and Scherer, Sebastian and Kira, Zsolt and Xia, Fei and Bisk, Yonatan},
  year = {2023},
  booktitle = {arXiv:2312.08782},
  html = {https://robotics-fm-survey.github.io/},
  pdf = {https://arxiv.org/pdf/2312.08782.pdf},
  bibtex_show = {true},
  selected = {true}
}

Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments

Yafei Hu, Junyi Geng, Chen Wang, John Keller, and Sebastian Scherer

In IEEE Robotics and Automation Letters (RA-L) 2023

Bib HTML PDF Code

@inproceedings{hu2023opere,
  abbr = {hu2023opere},
  title = {Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments},
  author = {Hu, Yafei and Geng, Junyi and Wang, Chen and Keller, John and Scherer, Sebastian},
  booktitle = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2023},
  html = {https://jeffreyyh.github.io/opere/},
  pdf = {https://arxiv.org/pdf/2204.03140.pdf},
  code = {},
  bibtex_show = {true},
  selected = {true}
}

Unsupervised Online Learning for Robotic Interestingness with Visual Memory

Chen Wang, Yuheng Qiu, Wenshan Wang, Yafei Hu, Seungchan Kim, and Sebastian Scherer

In IEEE Transactions on Robotics 2021

Bib HTML PDF Code

@inproceedings{2021_TRO_Inter,
  abbr = {2021_TRO_Inter},
  title = {Unsupervised Online Learning for Robotic Interestingness with Visual Memory},
  author = {Wang, Chen and Qiu, Yuheng and Wang, Wenshan and Hu, Yafei and Kim, Seungchan and Scherer, Sebastian},
  booktitle = {IEEE Transactions on Robotics},
  year = {2021},
  html = {https://arxiv.org/abs/2111.09793},
  pdf = {https://arxiv.org/pdf/2111.09793.pdf},
  code = {},
  bibtex_show = {true},
  selected = {true}
}

Visual Memorability for Robotic Interestingness via Unsupervised Online Learning

Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, and Sebastian Scherer

In ECCV 2020

Bib HTML PDF Code

@inproceedings{2020_ECCV_Inter,
  abbr = {2020_ECCV_Inter},
  title = {Visual Memorability for Robotic Interestingness via Unsupervised Online Learning},
  author = {Wang, Chen and Wang, Wenshan and Qiu, Yuheng and Hu, Yafei and Scherer, Sebastian},
  booktitle = {ECCV},
  year = {2020},
  html = {https://arxiv.org/abs/2005.08829},
  pdf = {https://arxiv.org/pdf/2005.08829.pdf},
  code = {},
  bibtex_show = {true},
  selected = {true}
}

TartanAir: A Dataset to Push the Limits of Visual SLAM

Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, and Sebastian Scherer

In IROS 2020

Bib HTML PDF Code

@inproceedings{2020_IROS_TartanAir,
  abbr = {2020_IROS_TartanAir},
  title = {TartanAir: A Dataset to Push the Limits of Visual SLAM},
  author = {Wang, Wenshan and Zhu, Delong and Wang, Xiangwei and Hu, Yaoyu and Qiu, Yuheng and Wang, Chen and Hu, Yafei and Kapoor, Ashish and Scherer, Sebastian},
  booktitle = {IROS},
  year = {2020},
  html = {https://arxiv.org/abs/2003.14338},
  pdf = {https://arxiv.org/pdf/2003.14338.pdf},
  code = {},
  bibtex_show = {true},
  selected = {true}
}