5 papers
Diffusion-2BC: Hybrid Diffusion and Regression Training for Offline Behavior Cloning in Autonomous Driving
Bruno Maciel Machado, Eric Aislan Antonelo
Behavior cloning provides an offline route to autonomous-driving policy learning, but mean-squared-error regression is poorly matched to demonstrations in which one observation adm…
Flowing With Purpose: Latent Action Guided Flow Matching Policies For Robotic Manipulation
Bruno Machado, Alexandre Chapin, Emmanuel Dellandrea +1
Flow matching has recently become a new standard for behavior cloning in robotic manipulation. However, state-of-the-art flow matching policies suffer from a systematic structural…
Spotlighting Task-Relevant Features: Object-Centric Representations for Better Generalization in Robotic Manipulation
Alexandre Chapin, Bruno Machado, Emmanuel Dellandrea +2
The generalization capabilities of robotic manipulation policies are heavily influenced by the choice of visual representations. Existing approaches typically rely on representatio…
Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
Zezeng Li, Alexandre Chapin, Enda Xiang +6
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses…
Object-Centric Representations Improve Policy Generalization in Robot Manipulation
Alexandre Chapin, Bruno Machado, Emmanuel Dellandrea +1
Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such r…