SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
Language-guided object-centric diffusion policy for generalizable and collision-aware manipulation
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GuidedVLA improves VLA success rates by manually supervising separate attention heads in the action decoder with auxiliary signals for task-relevant factors.
citing papers explorer
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SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA success rates by manually supervising separate attention heads in the action decoder with auxiliary signals for task-relevant factors.