3 accepted papers
Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. To this end, we present Constraint-Preserving Data Generation (CP-Gen), a method that uses a single expert trajectory to generate robot demonstrations conta…
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 systems from leveraging recent developments in visuomotor policy architectures that require high-end GPUs to achieve fas…
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 proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms,…