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ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection
In this work, we aim to enable robots to learn bimanual manipulation behaviors from human video demonstrations and fine-tune them through interaction.
TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
This problem is more severe in mobile manipulation, where collecting demonstrations is harder than in stationary manipulation due to the lack of available and easy-to-use teleoperation interfaces.
Learning to Infer Kinematic Hierarchies for Novel Object Instances
Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled.
Bootstrapping Motor Skill Learning with Motion Planning
We propose using kinematic motion planning as a completely autonomous, sample efficient way to bootstrap motor skill learning for object manipulation.
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