Sohwi Kim | Searcharxiv

arXiv2026

AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation

Visuomotor manipulation policies trained via large-scale behavior cloning have achieved strong semantic scene understanding, yet often fail to reliably execute correct low-level actions under distribution shifts. For example, even in a simple pickup task with identical scene layouts, camera viewpoints, and illumination, performance can degrade substantially when the object is placed at unseen locations. We argue that this gap arises from insufficient action understanding, namely the inability to interpret the robot's base-frame action coordinate system in image space. To address this issue, we introduce AxisGuide, a lightweight guidance method that bridges semantic scene understanding and action-coordinate interpretation. Using camera parameters and end-effector poses, AxisGuide renders the robot base-frame axes in each camera view and augments RGB observations with a small set of cue channels that explicitly visualize the meaning of the +x, +y, and +z motions in image space. Extensive evaluations in both the LIBERO simulation and real-world environments demonstrate that AxisGuide yields substantial performance gains and improved generalization, highlighting the effectiveness of explicit action-coordinate cues for learning reliable and transferable generalist visuomotor policies.

cs.RO↗

arXiv2024

Co-learning Single-Step Diffusion Upsampler and Downsampler with Two Discriminators and Distillation

Super-resolution (SR) aims to reconstruct high-resolution (HR) images from their low-resolution (LR) counterparts, often relying on effective downsampling to generate diverse and realistic training pairs. In this work, we propose a co-learning framework that jointly optimizes a single-step diffusion-based upsampler and a learnable downsampler, enhanced by two discriminators and a cyclic distillation strategy. Our learnable downsampler is designed to better capture realistic degradation patterns while preserving structural details in the LR domain, which is crucial for enhancing SR performance. By leveraging a diffusion-based approach, our model generates diverse LR-HR pairs during training, enabling robust learning across varying degradations. We demonstrate the effectiveness of our method on both general real-world and domain-specific face SR tasks, achieving state-of-the-art performance in both fidelity and perceptual quality. Our approach not only improves efficiency with a single inference step but also ensures high-quality image reconstruction, bridging the gap between synthetic and real-world SR scenarios.

eess.IV↗