AutoMoMa unifies AKR kinematic modeling with parallel trajectory optimization to produce 500k+ valid coordinated trajectories across 330 scenes and multiple robot embodiments, 80x faster than prior CPU methods.
Momagen: Gener- ating demonstrations under soft and hard constraints for multi-step bimanual mobile manipulation
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HumanoidMimicGen automatically generates large loco-manipulation datasets from few source demonstrations using whole-body planning, enabling visuomotor policies that outperform real-data-only training by 20% on a new nine-task benchmark.