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cs.RO2026
Decoding Task Progress from VLA Representations
Atiksh Bhardwaj, Edward Weiyi Duan, Prithwish Dan +2
Vision-language-action models (VLAs) are moving rapidly towards deployment as general-purpose manipulation policies, but we currently lack basic tools for understanding what these…
cs.RO2025
X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations
Maximus A. Pace, Prithwish Dan, Chuanruo Ning +5
Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for dire…
cs.RO2025
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
Prithwish Dan, Kushal Kedia, Angela Chao +4
Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment appro…