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cs.RO2024
Stem-OB: Generalizable Visual Imitation Learning with Stem-Like Convergent Observation through Diffusion Inversion
Kaizhe Hu, Zihang Rui, Yao He +3
Visual imitation learning methods demonstrate strong performance, yet they lack generalization when faced with visual input perturbations, including variations in lighting and text…
cs.RO2024
On the Evaluation of Generative Robotic Simulations
Feng Chen, Botian Xu, Pu Hua +4
Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of sca…
cs.RO2024★ 2 cited
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
Pu Hua, Minghuan Liu, Annabella Macaluso +4
Robotic simulation today remains challenging to scale up due to the human efforts required to create diverse simulation tasks and scenes. Simulation-trained policies also face scal…