MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation
Mobile manipulators such as humanoid robots are increasingly deployed in dynamic, unstructured environments to perform dexterous manipulation tasks. However, end-to-end manipulation policies trained to imitate demonstration data collected from a single robot pose are brittle: even centimeter-scale deviations in robot p...
Suzannah Wistreich, Stephen Tian, Isabella Huang et al.
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