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cs.RO2026
RESTA: Time-Scaling Augmentation for Data-Efficient Robot Imitation Learning
Yunpeng Jiang, Jianshu Hu, Han Fang +3
Robot manipulation policies trained through imitation learning commonly rely on costly demonstrations recorded in one task direction and at one temporal resolution. We propose Reve…
cs.RO2026
LEAP: Making Privileged Geometry Supervision Effective for Visuomotor Learning
Han Fang, Yunpeng Jiang, Jianshu Hu +6
Privileged 3D supervision uses additional geometric information during training to guide RGB-based visuomotor policy learning, without requiring geometric inputs at deployment. How…
cs.RO2026
DSSP: Diffusion State Space Policy with Full-History Encoding
Zhiyuan Guan, Jianshu Hu, Han Fang +5
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of r…