3 papers
cs.RO2026
Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning
Varun Giridhar, Anant Khandelwal, Jeremy A. Collins +2
Behaviour Cloning (BC) has driven remarkable progress in robot manipulation, yet it is fundamentally limited by its inability to self-improve: a policy that fails cannot learn from…
cs.RO2025
AMPLIFY: Actionless Motion Priors for Robot Learning from Videos
Jeremy A. Collins, Loránd Cheng, Kunal Aneja +3
Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available…
cs.RO2024
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…