4 papers
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies
Liquan Wang, Jiangjie Bian, Eric Heiden +1
Robotic manipulation tasks involving cutting deformable objects remain challenging due to complex topological behaviors, difficulties in perceiving dense object states, and the lac…
OG-VLA: Orthographic Image Generation for 3D-Aware Vision-Language Action Model
Ishika Singh, Ankit Goyal, Stan Birchfield +3
We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware…
DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
Joshua Bagajo, Clemens Schwarke, Victor Klemm +5
Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from…
RoCoDA: Counterfactual Data Augmentation for Data-Efficient Robot Learning from Demonstrations
Ezra Ameperosa, Jeremy A. Collins, Mrinal Jain +1
Imitation learning in robotics faces significant challenges in generalization due to the complexity of robotic environments and the high cost of data collection. We introduce RoCoD…