We address key challenges in Dataset Aggregation (DAgger) for real-world contactrich manipulation: how to collect informative human correction data and how to effectively update policies with this new data. We introduce Compliant Residual DAgger (CR-DAgger), which contains two novel components: 1) a Compliant Intervention Interface that leverages compliance control, allowing humans to provide gentle, accurate delta action corrections without interrupting the ongoing robot policy execution; and 2) a Compliant Residual Policy formulation that learns from human corrections while incorporating force feedback and force control. Our system significantly enhances performance on precise contact-rich manipulation tasks using minimal correction data, improving base policy success rates by over 60% on two challenging tasks (book flipping and belt assembly) while outperforming both retraining-from-scratch and finetuning approaches. Through extensive real-world experiments, we provide practical guidance for implementing effective DAgger in real-world robot learning tasks.

We address key challenges in Dataset Aggregation (DAgger) for real-world contact-rich manipulation: how to collect informative human correction data and how to effectively update policies with this new data. We introduce Compliant Residual DAgger (CR-DAgger), which contains two novel components: 1) a Compliant Intervention Interface that leverages compliance control, allowing humans to provide gentle, accurate delta action corrections without interrupting the ongoing robot policy execution; and 2) a Compliant Residual Policy formulation that learns from human corrections while incorporating force feedback and force control. Our system significantly enhances performance on precise contact-rich manipulation tasks using minimal correction data, improving base policy success rates by over 60% on two challenging tasks (book flipping and belt assembly) while outperforming both retraining-from-scratch and finetuning approaches. Through extensive real-world experiments, we provide practical guidance for implementing effective DAgger in real-world robot learning tasks.

Suppose N 3doorsd illustrated N =4), openingd1 requires Successful 1, otherwise 0. Since totheagent, acode. ExpertsFast simulation enables extensive experimentation and a robustness studyDemonstrate ADVISOR can be applied in continuous, multi-agent, environmentsStudy ADVISOR' s performance within a rich visual environmentDemonstrate that ADVISOR succeeds in diverse 3D environmentsStudy how the size of the imitation gap influences performanceObjectiveObjective: Cover black landmarks and avoid collisions Inparticular, see Tab. 1 ontheand Tab. 2 forourresultsonthe D - LHresultsaredeferredtothe Appendix.

Thank you for your valuable feedback, which is very helpful in improving the paper. We're encouraged by the broadly "Put this in the context of other work on computational homogenization / multi-scale finite element Our method is related to these and the boundary element method (BEM). "Limitation associated with micro-scale buckling... the coarse-grain behavior might exhibit hysteretic effects": Good "How sensitive is the outer optimization to the accuracy of the surrogate gradients?" "Do you know how the CES method scales with system size in terms of accuracy and evaluation time": In terms of "the method to solve the outer optimization over BCs to find minimum energy solutions to the composed surrogates Free DoFs are optimized to minimize total predicted energy using LBFGS. "The discuss of the surrogate and i.i.d. "Are the BCs shared when a boundary is common between two cells": Y es. We have 1 DoF for each blue point in Fig 2. "Its not clear how the HMC and PDE solver are used together": HMC is used to generate training BCs, preferring larger The PDE solver is used to compute the gradient of the pdf (which depends on E) w.r.t. the BC. Given BCs, we run the solver to determine the internal u and E. We compute dE/dBC with the Then we use this to compute the gradient of the pdf w.r.t. the BCs, needed for the leapfrog step. "does the HMC require a significant burn-in time before producing reasonable samples": No. Note: we don't truly care Per appendix, HMC took between 3 and 100 leapfrog steps per sample. The process of using the surrogates to solve the original problem can be explained in more detail. Newton method is neither the fast nor the most stable... a comparison with more sophisticated methods would be From a brief look it looks like Liu et al's method is tailored for Reviewer 5: "There is one outlier in L2 compression that was quite bad": We will discuss this in the main paper. "A comment might help the reader situate this work within the more usual (less idyllic) context of approximating This is a good suggestion: we will relate to other work in learning energies.

This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with reproducible evaluation of policies learned from real-robot data and sim2real policy training without using real robots. To enable photo-realistic rendering of diverse scenes, we propose a new asset format, which we term GSDF (Gaussian Scene Description File), that infuses Gaussian-on-Mesh representation with robot URDF and other objects. With a streamlined reconstruction pipeline, we curate a database of GSDF that contains 3 robot embodiments for single-arm and bimanual manipulation, as well as more than 40 objects. Combining GSDF with physics engines, we demonstrate several immediate interesting applications: (1) learning zero-shot sim2real pixel-to-action manipulation policy with photo-realistic rendering, (2) automated high-quality DAgger data collection for adapting policies to deployment environments, (3) reproducible benchmarking of real-robot manipulation policies in simulation, (4) simulation data collection by virtual teleoperation, and (5) zero-shot sim2real visual reinforcement learning. Website: https://3dgsworld.github.io/.

This paper studies a number of variations on the topic of training a deep network using data generated by a Monte-Carlo Tree Search (MCTS) agent. The paper focuses on the Atari 2600 platform and is motivated by the observation that, while MCTS performs extremely well on Atari 2600 games, it is also too computationally expensive to be used in a realistic setting. The authors provide empirical results on a number of Atari 2600 games.

Abstract-- Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy from multiple task-specific expert policies. Our approach significantly increases the overall task success rate by actively focusing on tasks where the multitask policy underperforms. The core of our method is a performance-aware scheduling strategy that tracks how much each task's learning process benefits from the amount of data, using a Kalman filter-based estimator to robustly decide how to allocate additional demonstrations across tasks. The resulting policy attains high performance across all tasks while using substantially fewer expert demonstrations, and the visual policy learned with our method in simulation shows better performance than naive DAgger and Behavior Cloning when transferring zero-shot to a real robot without using real data. Recent progress in robot learning has produced multitask policies [1], [2], [3], [4], [5] capable of performing many manipulation tasks, moving towards the goal of foundation models for robotics. A major challenge in training such multitask policies is the requirement of large and diverse demonstration datasets covering all tasks of interest.

Recent Vision-Language-Action models show potential to generalize across embodiments but struggle to quickly align with a new robot's action space when high-quality demonstrations are scarce, especially for bipedal humanoids. We present TrajBooster, a cross-embodiment framework that leverages abundant wheeled-humanoid data to boost bipedal VLA. Our key idea is to use end-effector trajectories as a morphology-agnostic interface. TrajBooster (i) extracts 6D dual-arm end-effector trajectories from real-world wheeled humanoids, (ii) retargets them in simulation to Unitree G1 with a whole-body controller trained via a heuristic-enhanced harmonized online DAgger to lift low-dimensional trajectory references into feasible high-dimensional whole-body actions, and (iii) forms heterogeneous triplets that couple source vision/language with target humanoid-compatible actions to post-pre-train a VLA, followed by only 10 minutes of teleoperation data collection on the target humanoid domain. Deployed on Unitree G1, our policy achieves beyond-tabletop household tasks, enabling squatting, cross-height manipulation, and coordinated whole-body motion with markedly improved robustness and generalization. Results show that TrajBooster allows existing wheeled-humanoid data to efficiently strengthen bipedal humanoid VLA performance, reducing reliance on costly same-embodiment data while enhancing action space understanding and zero-shot skill transfer capabilities. For more details, For more details, please refer to our \href{https://jiachengliu3.github.io/TrajBooster/}.