3 papers
cs.RO2026
Flexible Multitask Learning with Factorized Diffusion Policy
Chaoqi Liu, Haonan Chen, Sigmund H. Høeg +4
Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these comple…
cs.RO2025
Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use
Haonan Chen, Cheng Zhu, Shuijing Liu +2
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow,…
cs.RO2025
Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models
Haonan Chen, Jiaming Xu, Lily Sheng +4
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, ach…