Instrumented objects boost diffusion policy success in robotic hanger insertion by 14-25 percentage points over vision-only baselines, and augmenting datasets with instrumented expert rollouts lets a vision-only student match the instrumented expert.
A roadmap for ai in robotics,
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This paper proposes a research agenda for software engineering of self-adaptive robotic systems along lifecycle stages and enabling technologies, identifying challenges and a roadmap to 2030.
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Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion
Instrumented objects boost diffusion policy success in robotic hanger insertion by 14-25 percentage points over vision-only baselines, and augmenting datasets with instrumented expert rollouts lets a vision-only student match the instrumented expert.
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Software Engineering for Self-Adaptive Robotics: A Research Agenda
This paper proposes a research agenda for software engineering of self-adaptive robotic systems along lifecycle stages and enabling technologies, identifying challenges and a roadmap to 2030.