5 papers · 1 filter
Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation
Woo Chul Shin, Zhenyang Chen, Alfred Cueva +5
Visuomotor policies have advanced on manipulation tasks where the target object stays static during execution, but real deployments break this assumption: parts drift on conveyors…
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Shuo Cheng, Chuye Zhang, Alfred Cueva +3
Human videos are a scalable source of supervision for robot manipulation, as they are abundant and naturally capture rich object interactions. However, transferring human demonstra…
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15
Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat…
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Yangcen Liu, Shuo Cheng, Xinchen Yin +6
Dexterous manipulation is limited by the cost of collecting large-scale robot demonstrations. Egocentric human videos offer a scalable source of diverse manipulation behaviors, but…
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, Yipu Chen, Zimeng Chai +11
Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon…