Learning Robust Visuomotor Policies via Dynamics Alignment

arXiv:2510.27114 · cs.RO, cs.LG · Submitted 2025-10-31 · Read on arXiv

cs.RO, cs.LG

Submitted: 2025-10-31

Updated: 2026-10-11

Terminology

• Generalization — 3× in this paper · explained in 13 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Flow Matching — 1× in this paper · explained in 10 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• The Ingredients for Robotic Diffusion Transformers
• Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
• GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
• OpenVLA: An Open-Source Vision-Language-Action Model
• LoRA: Low-Rank Adaptation of Large Language Models

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