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cs.RO2026
JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction
Jie Xu, Kangjin Yu, Ziyi Jin +5
Standard behavior cloning supervises actions without explicitly constraining the future representation paired with each demonstrated action chunk. We introduce JEPA Policy, a diffu…
cs.RO2024★ 1 cited
RVT-2: Learning Precise Manipulation from Few Demonstrations
Ankit Goyal, Valts Blukis, Jie Xu +3
In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, su…
cs.RO2024
AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent
Tongzhou Mu, Yijie Guo, Jie Xu +4
Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datas…