Learning to Stack: Cube-Stacking Imitation Learning from Virtual Reality Demonstrations

arXiv:2609.19040 · cs.RO · Submitted 2026-07-20 · Read on arXiv

cs.RO

Submitted: 2026-07-20

Updated: 2026-07-20

Code: https://github.com/stephane-caron/pink

Project page: https://isaac-sim.github.io/IsaacLab

Terminology

• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Synthetic Data Generation — 2× in this paper · explained in 5 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes

Sources

• LeRobot: An Open-Source Library for End-to-End Robot Learning

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