DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

arXiv:2609.25631 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• GRPO — 18× in this paper · explained in 6 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 4× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Optical Flow — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Model-Agnostic — 1× in this paper · explained in 2 episodes
• Phase Transitions — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Trace — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
• Human-to-Robot Imitation in the Wild
• Data Pyramid for Embodied Manipulation: A Survey
• Sim-to-Real Dynamic Object Manipulation on Conveyor Systems via Optimization Path Shaping
• DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation
• Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey
• Residual Policy Learning
• From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning
• Proximal Policy Optimization Algorithms
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models

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