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cs.RO2025
Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning
Tianchong Jiang, Jingtian Ji, Xiangshan Tan +4
We study view-invariant imitation learning by explicitly conditioning policies on camera extrinsics. Using Plucker embeddings of per-pixel rays, we show that conditioning on extrin…
cs.RO2025
FlashBack: Consistency Model-Accelerated Shared Autonomy
Luzhe Sun, Jingtian Ji, Xiangshan Tan +1
Shared autonomy is an enabling technology that provides users with control authority over robots that would otherwise be difficult if not impossible to directly control. Yet, stand…