Copa: General robotic manipulation through spatial constraints of parts with foundation models
Foundation models pre-trained on web-scale data are shown to encapsulate extensive
world knowledge beneficial for robotic manipulation in the form of task planning. However …
world knowledge beneficial for robotic manipulation in the form of task planning. However …
[PDF][PDF] Robot Policy Learning with Temporal Optimal Transport Reward
Reward specification is one of the most tricky problems in Reinforcement Learning, which
usually requires tedious hand engineering in practice. One promising approach to tackle this …
usually requires tedious hand engineering in practice. One promising approach to tackle this …
[PDF][PDF] SCaR: Refining skill chaining for long-horizon robotic manipulation via dual regularization
Long-horizon robotic manipulation tasks typically involve a series of interrelated 1 sub-tasks
spanning multiple execution stages. Skill chaining offers a feasible 2 solution for these tasks …
spanning multiple execution stages. Skill chaining offers a feasible 2 solution for these tasks …
On Generalization and Distributional Update for Mimicking Observations with Adequate Exploration
Y Zhou, X Liu, X Zhang, Y Zhang - arXiv preprint arXiv:2501.12785, 2025 - arxiv.org
This paper tackles the efficiency and stability issues in learning from observations (LfO). We
commence by investigating how reward functions and policies generalize in LfO …
commence by investigating how reward functions and policies generalize in LfO …