FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation

[📄Paper] [🔥Project Page] [🚀 FoAM-benchmark] [🎄Code]

How to get all trainning data？

The simulation data can be obtained by running the FoAM benchmark script. If you want any other trainning data from FoAM, such as fine-tune VLM data and real experimental data, please feel free to contact Litao Liu to obtain it.

FAQs

If you encounter any issues, feel free to open an issue on GitHub or reach out through discussions or directly contact Litao Liu. We appreciate your feedback and contributions! 🚀

License

This project is released under the MIT license. Parts of this project contain code and models from other sources, which are subject to their respective licenses.

Citation

If you find this project useful in your research, please consider cite:

@misc{liu2024foamforesightaugmentedmultitaskimitation,
            title={FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation},
            author={Litao Liu and Wentao Wang and Yifan Han and Zhuoli Xie and Pengfei Yi and Junyan Li and Yi Qin and Wenzhao Lian},
            year={2024},
            eprint={2409.19528},
            archivePrefix={arXiv},
            primaryClass={cs.RO},
            url={https://arxiv.org/abs/2409.19528},
        }