7 papers
Scaling Bimanual Household Manipulation from 1,500 hours of Demonstrations to On-Policy Corrections
Jiafeng Xu, Qi Li, Yan Shen +7
Learning generalist policies for robust bimanual manipulation is bottlenecked by the scarcity of high quality large scale human demonstration data. In this work, we release 1,500 h…
EBT-Policy: Energy Unlocks Emergent Physical Reasoning Capabilities
Travis Davies, Yiqi Huang, Alexi Gladstone +5
Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. Ho…
Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer
Travis Davies, Yiqi Huang, Yunxin Liu +3
Scaling Transformer policies and diffusion models has advanced robotic manipulation, yet combining these techniques in lightweight, cross-embodiment learning settings remains chall…
Spatial RoboGrasp: Generalized Robotic Grasping Control Policy
Yiqi Huang, Travis Davies, Jiahuan Yan +3
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imi…
RoboGrasp: A Universal Grasping Policy for Robust Robotic Control
Yiqi Huang, Travis Davies, Jiahuan Yan +3
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving p…
Spatially Visual Perception for End-to-End Robotic Learning
Travis Davies, Jiahuan Yan, Xiang Chen +4
Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted…
Generalized Robot Learning Framework
Jiahuan Yan, Zhouyang Hong, Yu Zhao +4
Imitation based robot learning has recently gained significant attention in the robotics field due to its theoretical potential for transferability and generalizability. However, i…