Publications (4)
Diffusion Imitation from Observation
Bo-Ruei Huang, Chun-Kai Yang, Chun-Mao Lai +2
Learning from observation (LfO) aims to imitate experts by learning from state-only demonstrations without requiring action labels. Existing adversarial imitation learning approach…
Keypoint Abstraction using Large Models for Object-Relative Imitation Learning
Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao +4
Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been prov…
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
Hao-Shu Fang, Branden Romero, Yichen Xie +9
We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. W…
Beyond the Mean: Three-Axis Fidelity for Aligning LLM-Based Survey Simulators from Small Pilot Data
Eun Cheol Choi, Youngrae Kim, Prabhu Pugalenthi +2
Large language models (LLMs) are increasingly used to simulate social survey responses, yet their outputs exhibit systematic biases: marginal distributions are skewed, response var…