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ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, colle…
Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands
Yunshuang Li, Yiyang Ling, Gaurav S. Sukhatme +1
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relatio…
Zero-Shot Visual Generalization in Robot Manipulation
Sumeet Batra, Gaurav Sukhatme
Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches o…
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
I-Chun Arthur Liu, Jason Chen, Gaurav Sukhatme +1
Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-moun…