Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
cs.RO, cs.SY, eess.SY
Submitted: 2026-10-05
Updated: 2026-10-09
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
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- OpenVLA: An Open-Source Vision-Language-Action Model
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- RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
- Dissipative SymODEN: Encoding Hamiltonian Dynamics with Dissipation and Control into Deep Learning
- Port-Hamiltonian Neural Networks for Learning Explicit Time-Dependent Dynamical Systems
- Discovering Phase Space Structure in Learned Hamiltonian Systems
- VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors
- LoRA: Low-Rank Adaptation of Large Language Models
- Llama 2: Open Foundation and Fine-Tuned Chat Models
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