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.
Constraint-preserving data gen- eration for visuomotor policy learning
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ShapeGen generates shape-diverse 3D robotic manipulation demonstrations without simulators by curating a functional shape library and applying a minimal-annotation pipeline for novel, physically plausible data.
Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.
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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ShapeGen: Robotic Data Generation for Category-Level Manipulation
ShapeGen generates shape-diverse 3D robotic manipulation demonstrations without simulators by curating a functional shape library and applying a minimal-annotation pipeline for novel, physically plausible data.
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A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies
Sim-and-real co-training for robot policies is driven primarily by balanced cross-domain representation alignment and secondarily by domain-dependent action reweighting.