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Posts by Collection
portfolio
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publications
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
We present Video2Sim2Real, a full-stack framework for learning dexterous robot skills from a single human manipulation video. The system reconstructs a simulator-ready digital twin, extracts object-centric keyframes and motion priors, optimizes robot configurations in simulation, and bridges the sim-to-real gap through imitation learning, residual reinforcement learning, and collision-aware motion planning. Across everyday manipulation tasks, Video2Sim2Real improves simulated success, safety, trajectory coherence, and real-world transfer over prior approaches.
Going with the Flow: Koopman Behavioral Models as Pseudo Planners for Visuo-Motor Dexterity
We introduce Unified Behavioral Models (UBMs), a framework for representing dexterous visuo-motor skills as coupled dynamical systems between visual flow and robot action flow. Our first instantiation, Koopman-UBM, models these behavioral dynamics as a structured latent linear system, enabling smooth long-horizon execution, efficient inference, and online replanning when observed visual flow deviates from prediction. Across simulated and real-world dexterous manipulation tasks, the method matches or outperforms strong diffusion- and transformer-based baselines while offering faster and more coherent execution.
Mnemis: Dual-Route Retrieval on Hierarchical Graphs for Long-Term LLM Memory
Accepted by ACL 2026.
AI memory is increasingly important for long-term interactions with large language models, but existing RAG and Graph-RAG methods mainly rely on similarity-based retrieval. We propose Mnemis, a dual-route memory framework that combines fast System-1 similarity search with a System-2-style global selection mechanism over hierarchical memory graphs. By jointly retrieving semantically and structurally relevant memories, Mnemis improves long-term memory reasoning and achieves state-of-the-art performance on LoCoMo and LongMemEval-S benchmarks.
talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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