A real-time action correction system, STDArm, transfers visuomotor policies trained on static data to moving platforms, recovering 40 to 93 percent of static success rates in three manipulation tasks without retraining the policy.
Learning fine-grained bimanual manipulation with low-cost hardware
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STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
A real-time action correction system, STDArm, transfers visuomotor policies trained on static data to moving platforms, recovering 40 to 93 percent of static success rates in three manipulation tasks without retraining the policy.