Showing cs.ROShow all
3 papers · 1 filter
cs.RO2025
ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning
Yunchu Zhang, Shubham Mittal, Zhengyu Zhang +3
Visuomotor policies often suffer from perceptual challenges, where visual differences between training and evaluation environments degrade policy performance. Policies relying on s…
cs.RO2024
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels
Abhay Deshpande, Liyiming Ke, Quinn Pfeifer +2
We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during executio…
cs.RO2024
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
Liyiming Ke, Yunchu Zhang, Abhay Deshpande +2
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing…