3 papers
cs.RO2025
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao +7
We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained m…
cs.RO2025
Self-Guided Action Diffusion
Rhea Malhotra, Yuejiang Liu, Chelsea Finn
Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidire…
cs.RO2025
Humanoid Motion Scripting with Postural Synergies
Rhea Malhotra, William Chong, Catie Cuan +1
Generating sequences of human-like motions for humanoid robots presents challenges in collecting and analyzing reference human motions, synthesizing new motions based on these refe…