1 citations · 1 across the 6 of their papers we have counts for
9 papers
StereoEngine: Scaling Stereo Bimanual Robot Data without Stereo Cameras
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Stereo vision is increasingly used for robotic manipulation, with a growing body of work incorporating it into Vision-Language-Action (VLA) models. However, the scarcity of large-s…
ExStereo: Lifting 2D Vision-Language-Action Models to 3D with Explicit Stereo Representations
I-Chun Arthur Liu, Jason Chen, Gaurav S. Sukhatme +1
Three-dimensional perception is critical for robotic manipulation, particularly for high-precision tasks, as recovering metric depth and precise 3D object positions from monocular…
Long-Horizon Manipulation via Trace-Conditioned VLA Planning
Isabella Liu, An-Chieh Cheng, Rui Yan +7
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors.…
CRAFT: Video Diffusion for Bimanual Robot Data Generation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Bimanual robot learning from demonstrations is fundamentally limited by the cost and narrow visual diversity of real-world data, which constrains policy robustness across viewpoint…
CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining
I-Chun Arthur Liu, Krzysztof Choromanski, Sandy Huang +1
Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such r…
In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data
Xiongyi Cai, Ri-Zhao Qiu, Geng Chen +5
Egocentric videos are a valuable and scalable data source to learn manipulation policies. However, due to significant data heterogeneity, most existing approaches utilize human dat…
ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, colle…
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
I-Chun Arthur Liu, Jason Chen, Gaurav Sukhatme +1
Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-moun…
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
I-Chun Arthur Liu, Sicheng He, Daniel Seita +1
Bimanual manipulation is critical to many robotics applications. In contrast to single-arm manipulation, bimanual manipulation tasks are challenging due to higher-dimensional actio…