6 papers
Sensorimotor Alignment: A Platonic Proxy for Embodied Policy Success
Yunfei Xie, Howard H. Qian, Shiyi Lan +2
Robot foundation models are typically evaluated through costly closed-loop rollouts, motivating low-cost offline proxies for model capability. The Platonic Representation Hypothesi…
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Gaotian Wang, Kejia Ren, Andrew Morgan +4
Internet videos constitute the largest reservoir of embodied human manipulation knowledge, yet converting arbitrary RGB footage into actionable robot training data remains a major…
MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies
Howard H. Qian, Kejia Ren, Yu Xiang +2
Rigid bodies constitute the smallest manipulable elements in the real world, and understanding how they physically interact is fundamental to embodied reasoning and robotic manipul…
rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding
Howard H. Qian, Yiting Chen, Gaotian Wang +2
Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the backgroun…
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
Yiting Chen, Kenneth Kimble, Howard H. Qian +3
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and…
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
Howard H. Qian, Yangxiao Lu, Kejia Ren +4
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other o…