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cs.RO2025
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
Lexi Foland, Thomas Cohn, Adam Wei +3
Diffusion policies have shown impressive results in robot imitation learning, even for tasks that require satisfaction of kinematic equality constraints. However, task performance…
cs.RO2025
Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixels
Adam Wei, Abhinav Agarwal, Boyuan Chen +3
Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks t…