Publications (4)
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
Yifei Simon Shao, Yuchen Zheng, Sunan Sun +3
Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not de…
SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
Sunan Sun, Nadia Figueroa
Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally…
Directionality-Aware Mixture Model Parallel Sampling for Efficient Linear Parameter Varying Dynamical System Learning
Sunan Sun, Haihui Gao, Tianyu Li +1
The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite opti…
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning
Tianyu Li, Sunan Sun, Shubhodeep Shiv Aditya +1
Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC…