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cs.RO2026
YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca +3
Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Spl…
cs.RO2026
Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8
Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical…