SynthICL trains flow-matching transformer policies for in-context imitation learning entirely from synthetic RGB data and reports 79% average success on 16 unseen real manipulation tasks with one test-time demonstration.
Instant policy: In-context imitation learning via graph diffusion
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PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.
GAF creates 4D dynamic scene models by adding motion to 3D Gaussians, enabling better reconstruction and 7.3% higher success in robotic tasks.
citing papers explorer
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SynthICL: Scalable In-context Imitation Learning with Synthetic Data
SynthICL trains flow-matching transformer policies for in-context imitation learning entirely from synthetic RGB data and reports 79% average success on 16 unseen real manipulation tasks with one test-time demonstration.
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Point Cloud Sequence Encoding for Material-conditioned Graph Network Simulators
PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.