1 citations · 1 across the 3 of their papers we have counts for
4 papers
Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations
Bo-Ruei Huang, Daniel Seita, Erdem Bıyık
Robot manipulation has traditionally relied on end-effector-centric interactions. In contrast, humans routinely exploit whole-arm contacts to improve efficiency, robustness, and ad…
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
Hao-Shu Fang, Branden Romero, Yichen Xie +9
We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. W…
Keypoint Abstraction using Large Models for Object-Relative Imitation Learning
Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao +4
Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been prov…
Diffusion Imitation from Observation
Bo-Ruei Huang, Chun-Kai Yang, Chun-Mao Lai +2
Learning from observation (LfO) aims to imitate experts by learning from state-only demonstrations without requiring action labels. Existing adversarial imitation learning approach…