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cs.RO2025
Constraint-Preserving Data Generation for Visuomotor Policy Learning
Kevin Lin, Varun Ragunath, Andrew McAlinden +4
Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Dat…
cs.RO2024
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Jimmy Wu, William Chong, Robert Holmberg +6
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper prop…
cs.RO2024
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
Aaditya Prasad, Kevin Lin, Jimmy Wu +2
Many robotic systems, such as mobile manipulators or quadrotors, cannot be equipped with high-end GPUs due to space, weight, and power constraints. These constraints prevent these…