Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels- detailed analysis of co-training on DP sim-and-real#arxiv #manipulationX Overview, Arxiv Link

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

- detailed analysis of co-training on DP sim-and-real

#arxiv #manipulation

X Overview, Arxiv Link

FixupX

Adam Wei (@adamwei_)

Learning from both sim+real data could scale robot imitation learning. But what are the scaling laws & principles of sim+real cotraining?

We study this in the first focused analysis of sim+real cotraining spanning 250+ policies & 40k+ evals https://arxi…