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The Neverwhere Benchmark Suite is developed, comprised of over sixty 3D Gaussian Splatting reconstructions of urban indoor and outdoor scenes, to encourage large-scale and reproducible robot evaluation by making it easier to create and integrate Gaussian splats-based reconstructions into simulated continuous testing se...
Simulation Pre-training for Dexterity (SPD) is introduced, a pre-training framework for dexterous manipulation that uses data entirely collected in simulation and outperforms training behavior cloning policies from scratch, showing that simulation teleoperation is a viable pre-training source for real-world dexterous m...
This work introduces ABC, a fully open-source stack for manipulation with behavior cloning, and offers a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation.
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