6 papers indexed
Lingxiao Guo, Huanyu Li, Guanya Shi
Learning open-world mobile manipulation policies requires vast data to achieve spatial generalization, long-horizon robustness, and scene generalization. Current prevailing data collection paradigms, teleoperation and UMI, demand prohibitive human effort and cost at scale. To sca…
Runyu Lu, Yubo Wu, Ethan Kou, Letian Fu, Wenli Xiao, Ajay Mandlekar, et al.
Traditional robot programming is challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse configurations and execution failures. We introduce ASPIRE (Agentic Skill Programming through Iterative Robot Exploration), a co…
Yen-Jen Wang, Jiaman Li, Sirui Chen, Takara E. Truong, Pei Xu, Pieter Abbeel, et al.
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data…
Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare, Alan Wang, Max Simchowitz, Guanya Shi
High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective can induce different realized motions under changes in terrain, payload, or actuator response. Existing methods either pursue zero-shot transfer through domain randomiz…
Sirui Chen, Shibo Zhao, Zhen Wu, Jiaman Li, Guanya Shi, C. Karen Liu
Current humanoid reinforcement-learning policies excel at free-space motions but struggle with contact-rich tasks, as pure kinematic tracking cannot resolve the physical ambiguities of interacting with objects and uneven terrain. To address this, we introduce SceneBot, a unified…
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid, Hongsuk Choi, David McAllister, et al.
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our…