4 papers
CRAFT: Video Diffusion for Bimanual Robot Data Generation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Bimanual robot learning from demonstrations is fundamentally limited by the cost and narrow visual diversity of real-world data, which constrains policy robustness across viewpoint…
ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, colle…
GLU: Global-Local-Uncertainty Fusion for Scalable Spatiotemporal Reconstruction and Forecasting
Linzheng Wang, Jason Chen, Nicolas Tricard +2
Digital twins of complex physical systems are expected to infer unobserved states from sparse measurements and predict their evolution in time, yet these two functions are typicall…
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
I-Chun Arthur Liu, Jason Chen, Gaurav Sukhatme +1
Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-moun…