5 papers
H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer
Chuyang Xiao, Haotian Zhan, Sriram Krishna +4
Learning robot manipulation policies from human video demonstrations constitutes a promising avenue for scalable robot learning. However, comparing different human-to-robot (H2R) t…
JAMB: Joint Action-Motion Diffusion for Bimanual Manipulation
Chuyang Xiao, Peilin Meng, David Held
Coordinated bimanual manipulation is challenging because the motion of either arm can alter the shared 3D scene and thereby affect the other arm. Yet most diffusion policies genera…
DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover
Youzhuo Wang, Jiayi Ye, Chuyang Xiao +6
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide varie…
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
Yiming Zhong, Yumeng Liu, Chuyang Xiao +7
Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing metho…
Optimizing Efficiency of Mixed Traffic through Reinforcement Learning: A Topology-Independent Approach and Benchmark
Chuyang Xiao, Dawei Wang, Xinzheng Tang +2
This paper presents a mixed traffic control policy designed to optimize traffic efficiency across diverse road topologies, addressing issues of congestion prevalent in urban enviro…