Mauro Castelli

Beyond Teleoperation: Enhancing VLA Robustness via Explicit Kinematic Retargeting of Human Demonstrations

A lightweight retargeting pipeline that kinematically retargets human interaction data onto six-degree-of-freedom manipulator trajectories to fine-tune policies based on the pi0.5 architecture is proposed and evaluations under extreme visual clutter reveal that explicitly retargeted policies exhibit immunity to semanti...