Recent interesting robotics papers
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
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Adam Wei (@adamwei_)
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…
arxiv manipulation
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics

- insightful idea of using neural dynamics to assist planning

#ICLR2025 #manipulation

X Overview, Project Website
🧵 Thread • FixupX
Keyi (@Keyi_Shen_)
🎯Can robots do better on planning involving neural dynamics?

Introducing our recent work, BaB-ND: https://robopil.github.io/bab-nd/.

Existing sampling- and gradient-based methods may fail short on complex planning problems over non-convex neural dynamics…
ICLR2025 manipulation
π0.5: a VLA with Open-World Generalization

- following work of pi-0
- utilize co-train and use VLM to identify low-level tasks from high-level command

#arxiv #manipulation

X Overview, Project Website, pi-0
🧵 Thread • FixupX
Chelsea Finn (@chelseabfinn)
Introducing π-0.5!

The model works out of the box in completely new environments.

Here the robot cleans new kitchens & bedrooms. 🤖

Detailed paper + videos in more than 10 unseen rooms:
http://physicalintelligence.company/blog/pi05

A short thread 🧵
arxiv manipulation
 
 
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