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Nadun Ranawaka on Muck Rack

Nadun Ranawaka

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Articles

Computer Science > Robotics

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By Woo Chul, Nadun Ranawaka, Yingyan Celine
| arXiv
Visuomotor policies have advanced on manipulation tasks where the target object stays static during execution, but real deployments break this assumption: parts drift on conveyors and fruits sway in the wind. We introduce Static In, Dynamic Out (SIDO), a counterfactual action augmentation that enables a policy trained only on static object demonstrations to adapt to unseen object motion at test time.
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[2509.08775] Joint Model-based Model-free Diffusion for Planning with Constraints

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By Nadun Ranawaka
| arXiv
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SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies

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By Woo Chul, Yu Hang, Nadun Ranawaka, Yingyang Celine
| arXiv
[Submitted on 13 Jun 2025] Title:SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies Authors:Nadun Ranawaka Arachchige , Zhenyang Chen , Wonsuhk Jung , Woo Chul Shin , Rohan Bansal , Pierre Barroso , Yu Hang He , Yingyang Celine Lin , Benjamin Joffe , Shreyas Kousik , Danfei Xu View a PDF of the paper titled SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies, by Nadun Ranawaka Arachchige and 10 other authors View PDF Abstract:Offline Imitation...
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