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OneDemo: Unified Policy Learning and Data Generation from a Single Demonstration
Ying Qian, Jianshu Hu, Han Fang +2
Learning robot policies from demonstrations is often limited by the cost of collecting diverse, high-quality expert data. While an appealing alternative is to expand a single succe…
RESTA: Time-Scaling Augmentation for Data-Efficient Robot Imitation Learning
Yunpeng Jiang, Jianshu Hu, Han Fang +3
Robot manipulation policies trained through imitation learning commonly rely on costly demonstrations recorded in one task direction and at one temporal resolution. We propose Reve…
LEAP: Making Privileged Geometry Supervision Effective for Visuomotor Learning
Han Fang, Yunpeng Jiang, Jianshu Hu +6
Privileged 3D supervision uses additional geometric information during training to guide RGB-based visuomotor policy learning, without requiring geometric inputs at deployment. How…
ExtraGS: Enhancing Endoscopic View Extrapolation via Diffusion-Guided 3D Gaussian Splatting
Cheng-Tai Hsieh, Jiwei Shan, Han Fang +6
Robot-assisted minimally invasive surgery (MIS) critically depends on reliable endoscopic perception for navigation and safety. However, conventional endoscopes provide only a limi…
DSSP: Diffusion State Space Policy with Full-History Encoding
Zhiyuan Guan, Jianshu Hu, Han Fang +5
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of r…