3 citations · 8 across the 15 of their papers we have counts for
8 papers · 1 filter
RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning
Qian Wang, Longrui Chen, Peiran Sun +8
Visual imitation learning enables robots to acquire visuomotor skills directly from images, yet RGB observations lack explicit geometric cues, making learned policies brittle to ca…
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning
Xiaogang Jia, Qian Wang, Anrui Wang +12
Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure,…
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…
BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning
Hongyi Zhou, Weiran Liao, Xi Huang +11
We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines…
Towards Fusing Point Cloud and Visual Representations for Imitation Learning
Atalay Donat, Xiaogang Jia, Xi Huang +7
Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric struct…
IRIS: An Immersive Robot Interaction System
Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer +11
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challen…
BMP: Bridging the Gap between B-Spline and Movement Primitives
Weiran Liao, Ge Li, Hongyi Zhou +2
This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known conce…
ProDMPs: A Unified Perspective on Dynamic and Probabilistic Movement Primitives
Ge Li, Zeqi Jin, Michael Volpp +3
Movement Primitives (MPs) are a well-known concept to represent and generate modular trajectories. MPs can be broadly categorized into two types: (a) dynamics-based approaches that…