A framework augments single fisheye demonstrations into multiple novel-view trajectories with obstacles via fisheye-adapted Gaussian Splatting and trajectory optimization, raising policy success rates in original and modified scenes.
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IGen generates realistic visuomotor training data including actions and temporally coherent visuals from unstructured open-world images via 3D reconstruction and VLM reasoning.
A thinking-learning interaction model enables robots to adapt input features, expand output categories, update models, and reconstruct actions via environmental interaction, with reported experimental gains.
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IGen: Scalable Data Generation for Robot Learning from Open-World Images
IGen generates realistic visuomotor training data including actions and temporally coherent visuals from unstructured open-world images via 3D reconstruction and VLM reasoning.