DockAnywhere lifts single demonstrations to diverse docking points via structure-preserving augmentation and point-cloud spatial editing to improve viewpoint generalization in visuomotor policies for mobile manipulation.
Momagen: Generating demonstrations under soft and hard constraints for multi-step bimanual mobile manipulation,
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DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation
DockAnywhere lifts single demonstrations to diverse docking points via structure-preserving augmentation and point-cloud spatial editing to improve viewpoint generalization in visuomotor policies for mobile manipulation.