Cover Image

PALM: Enhanced Generalizability for Local Visuomotor Policies via Perception Alignment

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Ruiyu, Zhuang, Zheyu, Kragic, Danica, Pokorny, Florian T.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies
by: Wang, Ruiyu, et al.
Published: (2024)

Raising Body Ownership in End-to-End Visuomotor Policy Learning via Robot-Centric Pooling
by: Zhuang, Zheyu, et al.
Published: (2024)

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

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

Real-Time Operator Takeover for Visuomotor Diffusion Policy Training
by: Moletta, Marco, et al.
Published: (2025)

Hybrid-Diffusion Models: Combining Open-loop Routines with Visuomotor Diffusion Policies
by: Van Haastregt, Jonne, et al.
Published: (2025)

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

Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
by: Lu, Haofei, et al.
Published: (2025)

Real-Time Iteration Scheme for Diffusion Policy
by: Duan, Yufei, et al.
Published: (2025)

PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement
by: Jin, Shutong, et al.
Published: (2024)

How Physics and Background Attributes Impact Video Transformers in Robotic Manipulation: A Case Study on Planar Pushing
by: Jin, Shutong, et al.
Published: (2023)

DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting Manipulation
by: Zhang, Jiayuan, et al.
Published: (2026)

R900: Understanding the Cost-Effectiveness of Random Exploration from 900 Hours of Robotic Data Collection
by: Jin, Shutong, et al.
Published: (2025)

Efficient Training of Generalizable Visuomotor Policies via Control-Aware Augmentation
by: Zhao, Yinuo, et al.
Published: (2024)

A Study on Enhancing the Generalization Ability of Visuomotor Policies via Data Augmentation
by: Wang, Hanwen
Published: (2025)

AdaFold: Adapting Folding Trajectories of Cloths via Feedback-loop Manipulation
by: Longhini, Alberta, et al.
Published: (2024)

Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
by: Jian, Pingcheng, et al.
Published: (2024)

Reframing Human-Robot Interaction Through Extended Reality: Unlocking Safer, Smarter, and More Empathic Interactions with Virtual Robots and Foundation Models
by: Zhang, Yuchong, et al.
Published: (2025)

Vision Beyond Boundaries: An Initial Design Space of Domain-specific Large Vision Models in Human-robot Interaction
by: Zhang, Yuchong, et al.
Published: (2024)

Interactive Perception for Deformable Object Manipulation
by: Weng, Zehang, et al.
Published: (2024)

3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
by: Ze, Yanjie, et al.
Published: (2024)

VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs
by: Naik, Lakshadeep, et al.
Published: (2025)

Pushing Everything Everywhere All At Once: Probabilistic Prehensile Pushing
by: Perugini, Patrizio, et al.
Published: (2025)

CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equivariant}$ Continuous Approach-Constrained Generative Grasp Sampler
by: Weng, Zehang, et al.
Published: (2023)

SeFA-Policy: Fast and Accurate Visuomotor Policy Learning with Selective Flow Alignment
by: Xue, Rong, et al.
Published: (2025)

Parse-Augment-Distill: Learning Generalizable Bimanual Visuomotor Policies from Single Human Video
by: Tziafas, Georgios, et al.
Published: (2025)

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

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

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

A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models
by: Ingelhag, Nils, et al.
Published: (2024)

DexDiffuser: Generating Dexterous Grasps with Diffusion Models
by: Weng, Zehang, et al.
Published: (2024)

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

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

Will You Participate? Exploring the Potential of Robotics Competitions on Human-centric Topics
by: Zhang, Yuchong, et al.
Published: (2024)

3D Equivariant Visuomotor Policy Learning via Spherical Projection
by: Hu, Boce, et al.
Published: (2025)

Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
by: van Haastregt, Jonne, et al.
Published: (2024)

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

S$^2$-Diffusion: Generalizing from Instance-level to Category-level Skills in Robot Manipulation
by: Yang, Quantao, et al.
Published: (2025)

One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation
by: Wang, Zhendong, et al.
Published: (2024)

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