ExpertGen automates expert policy learning in simulation by refining diffusion-based behavior priors from imperfect demos, including LLM-synthesized ones, using reinforcement learning while keeping the…

#Robotics #SimToReal #DiffusionPolicy #BehaviorCloning
https://arxiv.org/abs/2603.15956

最新の模倣学習 (SARNN, ACT, DiffusionPolicy) をシミュレーションや実世界のロボットで簡単に再現検証できるソフトウェア "RoboManipBaselines"

github.com/isri-aist/Ro...

UMI-on-Air adds embodiment‑aware feedback to a diffusion policy, while a low‑level controller steers trajectories. In aerial peg‑insertion tests it succeeded. https://getnews.me/umi-on-air-enables-embodiment-aware-adaptation-of-visuomotor-policies/ #umionair #diffusionpolicy