Preprint
Sep 2026
DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation
Dynamic object manipulation is essential for robots operating in real-world environments, yet methods for generating high-quality demonstrations remain limited. Methods designed for static tasks do not readily transfer to dynamic settings. Among dynamic demonstration generators, planning-based methods can fail near con...
Yi-Yang Jin, Yu Zheng, Xiao He et al.
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