31 citations · 58 across the 38 of their papers we have counts for
15 papers · 1 filter
Evaluating Lightweight Contact Feedback in Dual-Operator Collaborative Humanoid Teleoperation
Austin Graves, Chuizheng Kong, Yunho Cho +4
Dual-operator humanoid teleoperation enables collaborative manipulation through two separate robots, but operators lack direct awareness of robot-object contact that is normally av…
Bilinear Flow Policy: Distributional Extrapolation for Goal-Conditioned Visuomotor Imitation
Wonsuhk Jung, Sundhar Vinodh Sangeetha, Chen Xu +4
Goal-conditioned imitation learning (GCIL) with flow matching is a promising framework that can represent multimodal behaviors while adapting to diverse, user-specified goals, yet…
Less Decoder is More Encoder: Geometric Representation Learning from Novel View Synthesis
Keerthi Kaashyap, Dennis Anthony, Akshay Krishnan +5
This paper examines the role of Novel View Synthesis (NVS) in geometric representation learning. In principle, NVS should reason about 3D scene structure, thereby enabling transfer…
MicroSplat: Towards Automating 3D Small-Scale Reconstruction
Roman Mineyev, Robert Azarcon, Suvrat Jain +2
Reconstructing sub-millimeter detail of small objects underpins tasks such as circuit-board defect detection, specimen digitization, and archiving. 3D Gaussian Splatting (3DGS) mak…
Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play
Seunghoon Cho, Wonsuhk Jung, Sundhar Vinodh Sangeetha +1
Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the le…
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…
ShardNet: Training Neural Controllers with Hard, Non-Convex Constraints
Long Kiu Chung, Shreyas Kousik
While neural network control policies are powerful, their deployment on safety critical systems depends on ensuring that they obey strict constraints. Existing work often treats sa…
Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons
Long Kiu Chung, David Isele, Toktam Mohammadnejad +4
Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environments. This issue is especially prominent in autonomous valet parking…
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Zhenyang Chen, Chuizheng Kong, Chuye Zhang +4
Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body mobile manipulation. While human data scales better than mobile tel…
Make Your VLA More Robust Without More Data By Interleaving Motion Planning
Dan BW Choe, Sundhar Vinodh Sangeetha, Samuel Coogan +1
Vision-Language-Action (VLA) models have shown remarkable progress for mobile manipulation, but their performance on long-horizon tasks remains poor. These tasks are especially cha…
RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
Evanns Morales-Cuadrado, Long Kiu Chung, Shreyas Kousik +1
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimi…
The Talking Robot: Distortion-Robust Acoustic Models for Robot-Robot Communication
Hanlong Li, Karishma Kamalahasan, Jiahui Li +2
We present Artoo, a learned acoustic communication system for robots that replaces hand-designed signal processing with end-to-end co-trained neural networks. Our system pairs a li…
Selecting Spots by Explicitly Predicting Intention from Motion History Improves Performance in Autonomous Parking
Long Kiu Chung, David Isele, Faizan M. Tariq +3
In many applications of social navigation, existing works have shown that predicting and reasoning about human intentions can help robotic agents make safer and more socially accep…
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
Going with the Flow: Koopman Behavioral Models as Pseudo Planners for Visuo-Motor Dexterity
Yunhai Han, Jiaqi Fu, Linhao Bai +7
Contemporary visuo-motor dexterity models often rely on expressive policy classes with diffusion and transformer backbones to achieve strong performance. However, these architectur…