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cs.RO2026
AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation
Gaoyuan Wu, Ziyu Shan, Haoyang Du +2
Affordance-guided imitation learning has shown impressive performance in robotic manipulation tasks by compressing visual perception into task-specific geometric constraints (e.g.,…
cs.RO2026
DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation
Ziyu Shan, Yuheng Zhou, Gaoyuan Wu +3
Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage p…