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Canonical Policy: Learning Canonical 3D Representation for SE(3)-Equivariant Policy
Zhiyuan Zhang, Zhengtong Xu, Jai Nanda Lakamsani +1
Visual Imitation learning has achieved remarkable progress in robotic manipulation, yet generalization to unseen objects, scene layouts, and camera viewpoints remains a key challen…
ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning
Quan Khanh Luu, Pokuang Zhou, Zhengtong Xu +3
Supervised visuomotor policies have shown strong performance in robotic manipulation but often struggle in tasks with limited visual inputs, such as operations in confined spaces a…
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability
Zhengtong Xu, Zichen Miao, Qiang Qiu +2
Imitation learning-based visuomotor policies excel at manipulation tasks but often produce suboptimal action trajectories compared to model-based methods. Directly mapping camera d…
VILP: Imitation Learning with Latent Video Planning
Zhengtong Xu, Qiang Qiu, Yu She
In the era of generative AI, integrating video generation models into robotics opens new possibilities for the general-purpose robot agent. This paper introduces imitation learning…