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cs.RO2025
Real-World Reinforcement Learning of Active Perception Behaviors
Edward S. Hu, Jie Wang, Xingfang Yuan +5
A robot's instantaneous sensory observations do not always reveal task-relevant state information. Under such partial observability, optimal behavior typically involves explicitly…
cs.RO2025
Latent Diffusion Planning for Imitation Learning
Amber Xie, Oleh Rybkin, Dorsa Sadigh +1
Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these…
cs.RO2025
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos
Weirui Ye, Fangchen Liu, Zheng Ding +3
Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms ei…