Teaching humanoids loco-manipulation skills, such as carrying diverse objects, via visual imitation is a promising path toward generalist robots. However, collecting diverse, high-quality interaction videos, such as clips that clearly show a person's full body and unoccluded interactions with objects, poses a practical...
Zihan Wang, Zhen Wu, Pieter Abbeel et al.· 0 citations
Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model wei...
Yen-Jen Wang, Hao-Zhe Jiang, Shu-Ying Deng et al.· 0 citations
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.
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh et al.· arXiv.org· 4 citations
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