arxiv arXiv cs.LG · 51d ago · research

Pose6DAug: Physically Plausible Multi-view Object Swapping

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Pose6DAug enables robot data augmentation by swapping objects in successful episodes while preserving physically valid 6D pose trajectories. It operates in 3D using a mesh anchored by temporally coherent poses, ensuring multi-view consistency and physical plausibility. Fine-tuning a VLA policy on this augmented data improves novel object success rates by 16.5% over state-of-the-art baselines.

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arxiv arXiv cs.AI · 51d ago · 1 view

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arxiv arXiv cs.AI · 51d ago

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arxiv arXiv cs.LG · 51d ago · 2 views

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arxiv arXiv cs.LG · 51d ago · 3 views

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arxiv arXiv cs.AI · 51d ago · 2 views

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