6 papers
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…
Human-Robot Copilot for Data-Efficient Imitation Learning
Rui Yan, Zaitian Gongye, Lars Paulsen +2
Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available…
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Ruihan Yang, Zhuoqun Chen, Jianhan Ma +4
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this s…
WildLMa: Long Horizon Loco-Manipulation in the Wild
Ri-Zhao Qiu, Yuchen Song, Xuanbin Peng +8
'In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations…
Harmonic Mobile Manipulation
Ruihan Yang, Yejin Kim, Rose Hendrix +3
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tas…
Learning Generalizable Feature Fields for Mobile Manipulation
Ri-Zhao Qiu, Yafei Hu, Yuchen Song +8
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires c…