DockAnywhere lifts single demonstrations to diverse docking points via structure-preserving augmentation and point-cloud spatial editing to improve viewpoint generalization in visuomotor policies for mobile manipulation.
3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
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MSACT improves localization stability and task success rates in limited-data bimanual manipulation by extracting stable 2D attention points and aligning predicted attention sequences across frames without keypoint labels.
Trajectory consistency training, smoothness regularization, and higher-order integration for flow matching policies deliver 60-70% success on long-horizon real-robot tasks where baselines achieve 0%.
Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.
citing papers explorer
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DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation
DockAnywhere lifts single demonstrations to diverse docking points via structure-preserving augmentation and point-cloud spatial editing to improve viewpoint generalization in visuomotor policies for mobile manipulation.
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MSACT: Multistage Spatial Alignment for Stable Low-Latency Fine Manipulation
MSACT improves localization stability and task success rates in limited-data bimanual manipulation by extracting stable 2D attention points and aligning predicted attention sequences across frames without keypoint labels.
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Trajectory-Consistent Flow Matching for Robust Visuomotor Policy Learning
Trajectory consistency training, smoothness regularization, and higher-order integration for flow matching policies deliver 60-70% success on long-horizon real-robot tasks where baselines achieve 0%.
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Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.