9 papers
EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
Ruihan Yang, Qinxi Yu, Yecheng Wu +12
Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamenta…
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
Jianglong Ye, Keyi Wang, Chengjing Yuan +6
Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, ge…
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…