MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation

arXiv:2610.07511 · cs.RO, cs.CV, cs.LG · Submitted 2026-10-05 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-10-05

Updated: 2026-10-05

Code: https://github.com/real-stanford/diffusion

Project page: https://sdwistreich.github.io/mobilevista

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Data Augmentation — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
• EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation
• R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulation
• CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning
• GenAug: Retargeting behaviors to unseen situations via Generative Augmentation
• DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
• Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation

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