3 papers
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…
cs.RO2024
APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega +5
Home robots performing personalized tasks must adeptly balance user preferences with environmental affordances. We focus on organization tasks within constrained spaces, such as ar…