4 papers
PrefPI: Preference-Guided Steering into Out-of-Distribution Behaviors
Seungeun Rho, Wontaek Kim, Danfei Xu +1
We present PrefPI (Preference-Guided Policy Iteration), an iterative framework for steering pretrained generative robot policies using only relative preferences over self-generated…
EgoAVFlow: Robot Policy Learning with Active Vision from Human Egocentric Videos via 3D Flow
Daesol Cho, Youngseok Jang, Danfei Xu +1
Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visi…
Reference Grounded Skill Discovery
Seungeun Rho, Aaron Trinh, Danfei Xu +1
Scaling unsupervised skill discovery algorithms to high-DoF agents remains challenging. As dimensionality increases, the exploration space grows exponentially, while the manifold o…
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…