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cs.RO2025
Residual Off-Policy RL for Finetuning Behavior Cloning Policies
Lars Ankile, Zhenyu Jiang, Rocky Duan +3
Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manu…
cs.RO2025
Steering Your Diffusion Policy with Latent Space Reinforcement Learning
Andrew Wagenmaker, Mitsuhiko Nakamoto, Yunchu Zhang +5
Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not…