arXiv subjects

Patcharapong Aphiwetsa

Publications and source records attributed to Patcharapong Aphiwetsa.

4 recordsLinked to original sources

arXiv2026

EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday environments. However, existing human datasets are often limited in scope, difficult to extend, and fragmented across institutions. We introduce EgoVerse, a collaborative platform for human data-driven robot learning that unifies data collection, processing, and access under a shared framework, enabling contributions from individual researchers, academic labs, and industry partners. The current release includes 1,362 hours (80k episodes) of human demonstrations spanning 1,965 tasks, 240 scenes, and 2,087 unique demonstrators, with standardized formats, manipulation-relevant annotations, and tooling for downstream learning. Beyond the dataset, we conduct a large-scale study of human-to-robot transfer with experiments replicated across multiple labs, tasks, and robot embodiments under shared protocols. We find that policy performance generally improves with increased human data, but that effective scaling depends on alignment between human data and robot learning objectives. Together, the dataset, platform, and study establish a foundation for reproducible progress in human data-driven robot learning. Videos and additional information can be found at https://egoverse.ai/

cs.RO↗

arXiv2025

EgoBridge: Domain Adaptation for Generalizable Imitation from Egocentric Human Data

Egocentric human experience data presents a vast resource for scaling up end-to-end imitation learning for robotic manipulation. However, significant domain gaps in visual appearance, sensor modalities, and kinematics between human and robot impede knowledge transfer. This paper presents EgoBridge, a unified co-training framework that explicitly aligns the policy latent spaces between human and robot data using domain adaptation. Through a measure of discrepancy on the joint policy latent features and actions based on Optimal Transport (OT), we learn observation representations that not only align between the human and robot domain but also preserve the action-relevant information critical for policy learning. EgoBridge achieves a significant absolute policy success rate improvement by 44% over human-augmented cross-embodiment baselines in three real-world single-arm and bimanual manipulation tasks. EgoBridge also generalizes to new objects, scenes, and tasks seen only in human data, where baselines fail entirely. Videos and additional information can be found at https://ego-bridge.github.io

cs.RO↗

arXiv2025

EMMA: Scaling Mobile Manipulation via Egocentric Human Data

Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework training mobile manipulation policies from human mobile manipulation data with static robot data, sidestepping mobile teleoperation. To accomplish this, we co-train human full-body motion data with static robot data. In our experiments across three real-world tasks, EMMA demonstrates comparable performance to baselines trained on teleoperated mobile robot data (Mobile ALOHA), achieving higher or equivalent task performance in full task success. We find that EMMA is able to generalize to new spatial configurations and scenes, and we observe positive performance scaling as we increase the hours of human data, opening new avenues for scalable robotic learning in real-world environments. Details of this project can be found at https://ego-moma.github.io/.

cs.RO↗

arXiv2024

Tile Compression and Embeddings for Multi-Label Classification in GeoLifeCLEF 2024

We explore methods to solve the multi-label classification task posed by the GeoLifeCLEF 2024 competition with the DS@GT team, which aims to predict the presence and absence of plant species at specific locations using spatial and temporal remote sensing data. Our approach uses frequency-domain coefficients via the Discrete Cosine Transform (DCT) to compress and pre-compute the raw input data for convolutional neural networks. We also investigate nearest neighborhood models via locality-sensitive hashing (LSH) for prediction and to aid in the self-supervised contrastive learning of embeddings through tile2vec. Our best competition model utilized geolocation features with a leaderboard score of 0.152 and a best post-competition score of 0.161. Source code and models are available at https://github.com/dsgt-kaggle-clef/geolifeclef-2024.

cs.CV↗