While pretrained robotic policies exhibit impressive capabilities in controlled environments, unobserved physical properties and dynamics require these policies to rapidly adapt during deployment. Existing test-time adaptation methods typically rely on sparse scalar rewards, failing to exploit the rich geometric and dy...
Yi-Shu Li, Li-Yu Geng, Xin-Yi Mao et al.· 0 citations
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
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
This work adapts a hierarchical imitation learning framework that combines high-level hand sub-goal prediction with a low-level goal-conditioned controller to serve not only as resources for grasp synthesis, but also as scalable pretraining data for contact-rich dexterous manipulation.
