Cover Image

Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ding, Haoran, Duan, Anqing, Sun, Zezhou, Song, Dezhen, Nakamura, Yoshihiko
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching
by: Ding, Haoran, et al.
Published: (2025)

Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
by: Ding, Haoran, et al.
Published: (2026)

3D-CovDiffusion: 3D-Aware Diffusion Policy for Coverage Path Planning
by: Chen, Chenyuan, et al.
Published: (2025)

Fast and Robust Visuomotor Riemannian Flow Matching Policy
by: Ding, Haoran, et al.
Published: (2024)

Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution
by: Sun, Zhanyi, et al.
Published: (2025)

GeoAware-VLA: Implicit Geometry Aware Vision-Language-Action Model
by: Abouzeid, Ali, et al.
Published: (2025)

TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
by: Zhang, Zhemeng, et al.
Published: (2026)

A Hybrid Hinge-Beam Continuum Robot with Passive Safety Capping for Real-Time Fatigue Awareness
by: Chen, Tongshun, et al.
Published: (2025)

UNCLE-Grasp: Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
by: Mansour, Malak, et al.
Published: (2026)

DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
by: Singh, Ritvik, et al.
Published: (2024)

Task-Specified Compliance Bounds for Humanoids via Lipschitz-Constrained Policies
by: He, Zewen, et al.
Published: (2026)

Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion
by: Koczy, Piotr, et al.
Published: (2025)

DIPOLE: Fusing Vision and Geometry for Robust Visuomotor Generalization
by: Tang, Yikai, et al.
Published: (2025)

Trajectory-Consistent Flow Matching for Robust Visuomotor Policy Learning
by: Ahmed, Riad, et al.
Published: (2026)

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
by: Chi, Cheng, et al.
Published: (2023)

Augmented Reality for RObots (ARRO): Pointing Visuomotor Policies Towards Visual Robustness
by: Mirjalili, Reihaneh, et al.
Published: (2025)

Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation
by: Jia, Bofang, et al.
Published: (2024)

One-Step Flow Policy: Self-Distillation for Fast Visuomotor Policies
by: Li, Shaolong, et al.
Published: (2026)

UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
by: Gupta, Harsh, et al.
Published: (2025)

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
by: Duan, Yifan, et al.
Published: (2025)

CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Prediction
by: Gong, Zhefei, et al.
Published: (2024)

Falcon: Fast Visuomotor Policies via Partial Denoising
by: Chen, Haojun, et al.
Published: (2025)

Spatial-Temporal Aware Visuomotor Diffusion Policy Learning
by: Liu, Zhenyang, et al.
Published: (2025)

PocketDP3: Efficient Pocket-Scale 3D Visuomotor Policy
by: Zhang, Jinhao, et al.
Published: (2026)

CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
by: Wu, Tong, et al.
Published: (2026)

Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
by: Prasad, Aaditya, et al.
Published: (2024)

FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
by: He, Chengyang, et al.
Published: (2025)

Normalizing Flows are Capable Models for Bi-manual Visuomotor Policy
by: Li, Jialong, et al.
Published: (2025)

History-Aware Visuomotor Policy Learning via Point Tracking
by: Chen, Jingjing, et al.
Published: (2025)

Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking
by: Fei, Zhenghao, et al.
Published: (2025)

Preference Aligned Visuomotor Diffusion Policies for Deformable Object Manipulation
by: Moletta, Marco, et al.
Published: (2026)

Learning Visuomotor Policy for Multi-Robot Laser Tag Game
by: Li, Kai, et al.
Published: (2026)

CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
by: Ma, Jiahua, et al.
Published: (2025)

Fast Visuomotor Policy for Robotic Manipulation
by: Jia, Jingkai, et al.
Published: (2025)

Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture
by: Xie, Shuangyu, et al.
Published: (2025)

ROCKET-2: Steering Visuomotor Policy via Cross-View Goal Alignment
by: Cai, Shaofei, et al.
Published: (2025)

FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
by: Zhong, Yiming, et al.
Published: (2025)

Constraint-Preserving Data Generation for Visuomotor Policy Learning
by: Lin, Kevin, et al.
Published: (2025)

Learning Generalizable Visuomotor Policy through Dynamics-Alignment
by: Lee, Dohyeok, et al.
Published: (2025)

Do You Need Proprioceptive States in Visuomotor Policies?
by: Zhao, Juntu, et al.
Published: (2025)