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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…