36 citations · 113 across the 10 of their papers we have counts for
10 papers
XSkill: Cross Embodiment Skill Discovery
Mengda Xu, Zhenjia Xu, Cheng Chi +2
Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusa…
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng +5
This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmar…
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects
Zhenjia Xu, Zhou Xian, Xingyu Lin +4
We introduce RoboNinja, a learning-based cutting system for multi-material objects (i.e., soft objects with rigid cores such as avocados or mangos). In contrast to prior works usin…
Robust Extrinsic Self-Calibration of Camera and Solid State LiDAR
Jiahui Liu, Xingqun Zhan, Cheng Chi +2
This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured r…
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Alper Canberk, Cheng Chi, Huy Ha +4
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicaliz…
Picophotonics -- Subatomic Optical Localization Beyond Thermal Fluctuations
Tongjun Liu, Cheng-Hung Chi, Jun-Yu Ou +4
Despite recent tremendous progress in optical imaging and metrology, the resolution gap between atomic scale transmission electron microscopy and optical techniques has not been cl…