Showing 2025 · cs.ROShow all
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cs.RO2025
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
Yangcen Liu, Woo Chul Shin, Yunhai Han +3
Learning robot manipulation from abundant human videos offers a scalable alternative to costly robot-specific data collection. However, domain gaps across visual, morphological, an…
cs.RO2025
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
Shuo Cheng, Liqian Ma, Zhenyang Chen +3
Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particu…
cs.RO2025
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung +8
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined…