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.
Skillmimicgen: Automated demon- stration generation for efficient skill learning and deployment.arXiv preprint arXiv:2410.18907
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DreamGen trains robot policies on synthetic trajectories from adapted video world models, enabling a humanoid robot to perform 22 new behaviors in seen and unseen environments from a single pick-and-place teleoperation dataset.
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
ExpertGen generates high-success expert policies in simulation from imperfect priors by freezing a diffusion behavior model and optimizing its initial noise via RL, then distills them for real-robot deployment.
R2RGen introduces a simulator-free three-stage pipeline that parses, augments, and post-processes real pointcloud observation-action pairs to improve spatial generalization in robotic manipulation policies.
GraspVLA shows that pretraining a grasping model on a billion synthetic action frames enables zero-shot open-vocabulary performance and sim-to-real transfer.
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.
citing papers explorer
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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.
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DreamGen: Unlocking Generalization in Robot Learning through Video World Models
DreamGen trains robot policies on synthetic trajectories from adapted video world models, enabling a humanoid robot to perform 22 new behaviors in seen and unseen environments from a single pick-and-place teleoperation dataset.
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WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
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ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
ExpertGen generates high-success expert policies in simulation from imperfect priors by freezing a diffusion behavior model and optimizing its initial noise via RL, then distills them for real-robot deployment.
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R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulation
R2RGen introduces a simulator-free three-stage pipeline that parses, augments, and post-processes real pointcloud observation-action pairs to improve spatial generalization in robotic manipulation policies.
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GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
GraspVLA shows that pretraining a grasping model on a billion synthetic action frames enables zero-shot open-vocabulary performance and sim-to-real transfer.
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GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.