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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…