16 papers
Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion
Zihao He, Hongjie Fang, Shirun Tang +2
Diffusion policies have shown strong potential for robotic imitation learning, and recent extensions incorporate additional modalities to improve manipulation performance. However,…
AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
Chenxi Wang, Ying Feng, Hongjie Fang +4
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retarg…
ChronoFlow-Policy: Unifying Past-Current-Future Interaction Flow in Visuomotor Policy Learning
Bokai Lin, Yifu Xu, Xinyu Zhan +6
Visual signals play a crucial role in policy learning by enabling models to capture object motion and interaction dynamics. Just as humans reason about actions using both past expe…
X-Imitator: Spatial-Aware Imitation Learning via Bidirectional Action-Pose Interaction
Kai Xiong, Hongjie Fang, Lixin Yang +1
Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial…
LIDEA: Human-to-Robot Imitation Learning via Implicit Feature Distillation and Explicit Geometry Alignment
Yifu Xu, Bokai Lin, Xinyu Zhan +4
Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embod…
Learning Dexterous Manipulation with Quantized Hand State
Ying Feng, Hongjie Fang, Yinong He +5
Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the hi…