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Residual RL for Precise Visual Assembly from RGB images with sim-to-real transfer with distillation.
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2026-03-05 11:57:35
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From Imitation to Refinement—Residual RL for Precise Visual Assembly More Research JUICER DPPO From Imitation to Refinement Residual RL for Precise Visual Assembly Lars Ankile 1,2,3 , Anthony Simeonov 2,3 , Idan Shenfeld 2,3 , Marcel Torne 2,3 , Pulkit Agrawal 2,3 , 1 Massachusetts Institute of Technology 2 Improbable AI Lab 3 Harvard University Paper 3-Minute Video Code Data Perform complex assembly tasks in the real world from RGB observations by learning from demonstrations and refining with reinforcement learning. Abstract Recent advances in behavior cloning (BC), like action-chunking and diffusion, have led to impressive progress, but imitation alone remains insufficient for tasks requiring reliable and precise movements, such as aligning and inserting objects. Our central insight is that chunked BC policies function as traject...
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