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cs.RO2026
Bilinear Flow Policy: Distributional Extrapolation for Goal-Conditioned Visuomotor Imitation
Wonsuhk Jung, Sundhar Vinodh Sangeetha, Chen Xu +4
Goal-conditioned imitation learning (GCIL) with flow matching is a promising framework that can represent multimodal behaviors while adapting to diverse, user-specified goals, yet…
cs.RO2026
Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play
Seunghoon Cho, Wonsuhk Jung, Sundhar Vinodh Sangeetha +1
Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the le…
cs.RO2026
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…