ROPA augments bimanual imitation learning datasets by generating synthetic RGB-D observations and actions via fine-tuned diffusion models with physical consistency constraints.
Novel demon- stration generation with gaussian splatting enables robust one-shot manipulation,
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ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
ROPA augments bimanual imitation learning datasets by generating synthetic RGB-D observations and actions via fine-tuned diffusion models with physical consistency constraints.