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cs.RO2025
Constraint-Preserving Data Generation for Visuomotor Policy Learning
Kevin Lin, Varun Ragunath, Andrew McAlinden +4
Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Dat…
cs.RO2025
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao +7
We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained m…