Author

Chu-Yang Xiao

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Preprint Sep 2026

H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer

Learning robot manipulation policies from human video demonstrations constitutes a promising avenue for scalable robot learning. However, comparing different human-to-robot (H2R) transfer methods remains challenging, as existing approaches are evaluated under different settings, including differing task suites, scene l...

Chu-Yang Xiao, Hao-Tian Zhan, Sriram Krishna et al. · 0 citations

Preprint Sep 2026

JAMB: Joint Action-Motion Diffusion for Bimanual Manipulation

Coordinated bimanual manipulation is challenging because the motion of either arm can alter the shared 3D scene and thereby affect the other arm. Yet most diffusion policies generate actions without explicitly modeling these future geometric consequences, while predictive variants typically use future state only as aux...

Chu-Yang Xiao, Pei-Lin Meng, David Held · 0 citations