4 papers
PALM: Enhanced Generalizability for Local Visuomotor Policies via Perception Alignment
Ruiyu Wang, Zheyu Zhuang, Danica Kragic +1
Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint…
R900: Understanding the Cost-Effectiveness of Random Exploration from 900 Hours of Robotic Data Collection
Shutong Jin, Axel Kaliff, Ruiyu Wang +2
Data scarcity presents a key bottleneck for imitation learning in robotic manipulation. In this paper, we focus on random exploration data-actions and video sequences produced auto…
PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement
Shutong Jin, Ruiyu Wang, Kuangyi Chen +1
Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative…
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies
Ruiyu Wang, Zheyu Zhuang, Shutong Jin +3
An end-to-end (E2E) visuomotor policy is typically treated as a unified whole, but recent approaches using out-of-domain (OOD) data to pretrain the visual encoder have cleanly sepa…