1 citations · 1 across the 6 of their papers we have counts for
8 papers
VICAR: Video Imitation with Contact-Aware Retargeting for Humanoid Interactive Skills
Dvij Kalaria, Bike Zhang, S. Shankar Sastry
Third-person human videos offer a scalable alternative to task-specific reward engineering, teleoperation, and manually scripted demonstrations for humanoid loco-manipulation. Rece…
Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
Tara Sadjadpour, Siming He, C. K. Wolfe +5
Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology…
FARM: Find Anything using Relational Spatial Memory
Siming He, Leo Huang, Adam Lilja +6
Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often…
HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning
Zhi Su, Bike Zhang, Nima Rahmanian +5
Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic env…
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
Haoru Xue, Xiaoyu Huang, Dantong Niu +8
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller…
LATTE-MV: Learning to Anticipate Table Tennis Hits from Monocular Videos
Daniel Etaat, Dvij Kalaria, Nima Rahmanian +1
Physical agility is a necessary skill in competitive table tennis, but by no means sufficient. Champions excel in this fast-paced and highly dynamic environment by anticipating the…
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen, Xialin He, Yen-Jen Wang +8
Reinforcement learning combined with sim-to-real transfer offers a general framework for developing locomotion controllers for legged robots. To facilitate successful deployment in…
Role of Uncertainty in Anticipatory Trajectory Prediction for a Ping-Pong Playing Robot
Nima Rahmanian, Michael Gupta, Renzo Soatto +4
Robotic interaction in fast-paced environments presents a substantial challenge, particularly in tasks requiring the prediction of dynamic, non-stationary objects for timely and ac…