Jim Yun-Jin Li

Data and Learning Where it Matters for Contact-Rich Manipulation

Oliver Hausdörfer, Linus Schwarz, Gabor Marko, Christian Dietz, Timo Class, Luka Hofer, et al.

Learned policies trained end-to-end on large datasets often remain brittle in high-precision tasks and struggle with generalization. We find that these limitations largely stem from a lack of structure and focus in data collection. Our key insight is to leverage dense data collec…Read more