While neural network control policies are powerful, their deployment on safety critical systems depends on ensuring that they obey strict constraints. Existing work often treats safety as a metric to optimize for, which competes with other performance objectives, if training conv…
Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body mobile manipulation. While human data scales better than mobile teleoperation, it requires overcoming significant embodiment gaps. Existing retargeting methods yield i…