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cs.RO2025
Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Tasks
Vijja Wichitwechkarn, Emlyn Williams, Charles Fox +1
Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong perfo…
cs.RO2025
Zero-Shot Sim-to-Real Reinforcement Learning for Fruit Harvesting
Emlyn Williams, Athanasios Polydoros
This paper presents a comprehensive sim-to-real pipeline for autonomous strawberry picking from dense clusters using a Franka Panda robot. Our approach leverages a custom Mujoco si…
cs.RO2024
Pretrained Visual Representations in Reinforcement Learning
Emlyn Williams, Athanasios Polydoros
Visual reinforcement learning (RL) has made significant progress in recent years, but the choice of visual feature extractor remains a crucial design decision. This paper compares…