RoCoDA: Counterfactual Data Augmentation for Data-Efficient Robot Learning from Demonstrations
Ezra Ameperosa, Jeremy A Collins, Mrinal Jain, Animesh Garg
ICRA 2025
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RoCoDA is a data augmentation framework unifying the concepts of invariance, equivariance, and causality to enhance data augmentation for imitation learning, thus improving generalization and sample efficiency across manipulation tasks.