MobileVISTA: ייצור נתונים גנרטיבי להרחבת ניסיון במאמן נייד

תקציר מקורי באנגליתarXiv:2610.07511v1 Announce Type: cross Abstract: Mobile manipulators such as humanoid robots are increasingly deployed in dynamic, unstructured environments to perform dexterous manipulation tasks. However, end-to-end manipulation policies trained to imitate demonstration data collected from a single robot pose are brittle: even centimeter-scale deviations in robot pose at deployment can drive ego-centric observations and end-effector trajectories out of the training distribution, leading to sharp drops in performance. We introduce MobileVISTA, a data generation framework that transforms demonstrations captured at canonical poses into diverse, pose-perturbed training data by jointly (1) augmenting egocentric visual observations and (2) retargeting actions to compensate for base pose chang