Author

Shigeo Morishima

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#artificial intelligence Preprint Oct 2026

YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation

Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Splatting (3DGS) enables rapid real-to-sim scene generation, the reconstruction quality required for reliable policy evaluation remains unquant...

Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca et al. · 0 citations

Preprint Sep 2026

Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining

Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical concern. Pretraining on large-scale robot datasets is effective in this respect, but such datasets are costly to collect and train on, while...

Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada et al. · 0 citations