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cs.RO2025
Residual Off-Policy RL for Finetuning Behavior Cloning Policies
Lars Ankile, Zhenyu Jiang, Rocky Duan +3
Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manu…
cs.RO2025
Bridging the Sim2Real Gap: Vision Encoder Pre-Training for Visuomotor Policy Transfer
Yash Yardi, Samuel Biruduganti, Lars Ankile
Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distr…