Imperfection for Precision: Upcycling Imperfect Data for High-Precision Robotic Manipulation

arXiv:2609.26672 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/Physical-Intelligence/openpi

Project page: https://varepsilon4p.github.io

Terminology

• Diffusion Model — 4× in this paper · explained in 8 episodes
• Diffusion Models — 4× in this paper · explained in 6 episodes
• AUC — 3× in this paper · explained in 2 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Domain Shift — 1× in this paper · explained in 4 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Influence Functions — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

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