ACORN adds contrastive learning with action-space perturbations to ACT imitation learning and reports improved safety metrics on one bimanual task, but the headline metric is undefined and results are inconsistent across noise levels.
Reinforcement learning with augmented data,
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ACORN: Adaptive Contrastive Optimization for Safe and Robust Fine-Grained Robotic Manipulation
ACORN adds contrastive learning with action-space perturbations to ACT imitation learning and reports improved safety metrics on one bimanual task, but the headline metric is undefined and results are inconsistent across noise levels.