Rohan Bosworth

Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies For Planar Pushing from Pixels

Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks to elucidate basic principles of this simand-real cotraining to inform simulation design, sim-and-real dataset creation,