Iretiayo Akinola

SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing

Stone Tao, Jie Xu, Hesam Rabeti, Yashraj Narang, Yijie Guo, Iretiayo Akinola

Linear-deformable manipulation remains challenging due to the complex deformations of objects such as cables and ropes. Prior data-driven approaches, particularly imitation learning, have shown some promise in narrowly defined settings but typically require thousands of demonstra…Read more