DeformGen augments states via localized disturbance simulation and trajectories via deformation-field warping to improve deformable manipulation policy learning over original data and rigid baselines.
High-fidelity simulated data generation for real-world zero-shot robotic manipulation learning with gaussian splatting.IEEE Robotics and Automation Letters, 11(5):5310–5317, 2026
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DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning
DeformGen augments states via localized disturbance simulation and trajectories via deformation-field warping to improve deformable manipulation policy learning over original data and rigid baselines.