Author

Guoping Pan

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Preprint Oct 2026

Trajectory-based Diffusion from One-shot Human Video for Generalizable Manipulation

Imitation learning enables robots to perform complex tasks by leveraging human-collected demonstrations. However, most existing approaches require labor-intensive data collection with additional teleoperation systems, which hinders scalability. Human videos represent a natural source of data that implicitly contain kno...

Guo-Ping Pan, Xin-Miao Yu, Wan-Nan Cao et al. · 0 citations

Jun 2026

Stage-Transition Dense Reward Modeling for Reinforcement Learning

Experiments show that STDR consistently improves sample efficiency and success rates over multiple baselines, and matches or surpasses handcrafted dense rewards on several challenging tasks, suggesting robustness to visual noise and better-calibrated reward assignment across settings.

Yang Yang, Bingjie Chen, Zihan Wang et al. · arXiv.org · 0 citations