5 papers
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
MilliVid: Hierarchical Latents for Long-Range Consistency in Video Generation
Ishaan Preetam Chandratreya, David Charatan, Basile Van Hoorick +4
Video generative models have become increasingly powerful, but long-range consistency remains challenging to achieve because even a few dozen frames require impractically long tran…
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…
Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups
Nicholas Pfaff, Evelyn Fu, Jeremy Binagia +2
Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. W…
Learning Visual Parkour from Generated Images
Alan Yu, Ge Yang, Ran Choi +3
Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and lea…