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Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Visuomotor policies have shown great promise in robotic manipulation but often require substantial amounts of human-collected data for effective performance. A key reason underlying the data demands is their limited spatial generalization…

Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Large-scale and diverse datasets are vital for training robust robotic manipulation policies, yet existing data collection methods struggle to balance scale, diversity, and quality. Simulation offers scalability but suffers from sim-to-real…

Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grounded data but is prohibitively…

Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for…

Indoor mobile manipulation (MoMA) enables robots to translate natural language instructions into physical actions, yet long-horizon execution remains challenging due to cascading errors and limited generalization across diverse…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Large-scale, high-quality interaction trajectories are essential for advancing mobile Graphical User Interface (GUI) agents. While existing methods typically rely on labor-intensive human demonstrations or automated model exploration to…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Text-driven motion generation has attracted increasing attention due to its broad applications in virtual reality, animation, and robotics. While existing methods typically model human and animal motion separately, a joint cross-species…

We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.…

Developing the next generation of household robot helpers requires combining locomotion and interaction capabilities, which is generally referred to as mobile manipulation (MoMa). MoMa tasks are difficult due to the large action space of…

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera,…