Xu-Peng Xie

A function-preserving Real-to-Sim-to-Real framework that generates synthetic demonstrations from reconstructed assets without teleoperated source trajectories is proposed, enabling robust generalization across unseen object geometries and diverse visual conditions in contact-rich and long-horizon tasks.

LAGO Policy achieves smooth, collision-free manipulation by seamlessly integrating trajectory optimization with advanced diffusion techniques, setting a new standard for real-world robotic execution.