2 papers
cs.CV2025
Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning
Albert Wilcox, Mohamed Ghanem, Masoud Moghani +3
Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D s…
cs.RO2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks
Masoud Moghani, Nigel Nelson, Mohamed Ghanem +6
Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and r…