CalibAll estimates camera extrinsics on existing datasets to convert robot actions into a unified camera-frame representation, enabling stronger cross-embodiment pretraining.
Airexo-2: Scaling up generalizable robotic imitation learning with low-cost exoskeletons
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A transformer 3D encoder plus diffusion decoder architecture, with 3D-specific augmentations, outperforms prior 3D policy methods on manipulation benchmarks by improving training stability.
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Unify Robot Actions in Camera Frame
CalibAll estimates camera extrinsics on existing datasets to convert robot actions into a unified camera-frame representation, enabling stronger cross-embodiment pretraining.
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R3D: Revisiting 3D Policy Learning
A transformer 3D encoder plus diffusion decoder architecture, with 3D-specific augmentations, outperforms prior 3D policy methods on manipulation benchmarks by improving training stability.