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cs.RO2025
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong, Xiaomeng Xu, Jimmy Wu +3
We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, an…
cs.RO2025
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Xiaomeng Xu, Yifan Hou, Chendong Xin +2
We address key challenges in Dataset Aggregation (DAgger) for real-world contact-rich manipulation: how to collect informative human correction data and how to effectively update p…
cs.RO2025
RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
Xiaomeng Xu, Dominik Bauer, Shuran Song
We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its…