MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.
Waypoint- based imitation learning for robotic manipulation
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ESPADA uses semantic segmentation from VLMs and LLMs plus DTW to downsample non-critical segments in demonstrations, delivering about 2x faster robot execution in behavior cloning while maintaining task success rates.
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MoRI: Mixture of RL and IL Experts for Long-Horizon Manipulation Tasks
MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.
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ESPADA: Execution Speedup via Semantics Aware Demonstration Data Downsampling for Imitation Learning
ESPADA uses semantic segmentation from VLMs and LLMs plus DTW to downsample non-critical segments in demonstrations, delivering about 2x faster robot execution in behavior cloning while maintaining task success rates.