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cs.RO2025
EgoBridge: Domain Adaptation for Generalizable Imitation from Egocentric Human Data
Ryan Punamiya, Dhruv Patel, Patcharapong Aphiwetsa +5
Egocentric human experience data presents a vast resource for scaling up end-to-end imitation learning for robotic manipulation. However, significant domain gaps in visual appearan…
cs.RO2025
EMMA: Scaling Mobile Manipulation via Egocentric Human Data
Lawrence Y. Zhu, Pranav Kuppili, Ryan Punamiya +5
Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework tr…