7 papers
ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
Joshua Citron, Renee Zbizika, Zeyi Liu +1
Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their scalability and adaptability. We present ModPack, a modular and extens…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Ryan Punamiya, Simar Kareer, Zeyi Liu +37
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternati…
Geometry-aware 4D Video Generation for Robot Manipulation
Zeyi Liu, Shuang Li, Eric Cousineau +3
Understanding and predicting dynamics of the physical world can enhance a robot's ability to plan and interact effectively in complex environments. While recent video generation mo…
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Xiaomeng Xu, Yifan Hou, Chendong Xin +2
We address key challenges in Dataset Aggregation (DAgger) for real-world contact-rich manipulation: how to collect informative human correction data and how to effectively update p…
Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
Yifan Hou, Zeyi Liu, Cheng Chi +5
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by toda…
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau +3
Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot ma…