在DP3的基础上,迮炎杰做了一些改进并将这个策略部署到人形机器人上,进一步提出了iDP3(Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies)。跟过去需要多个场景的数据才能泛化的Diffusion Policy不同,iDP3仅仅使用一个场景的数据就把人型机器人的操作泛化到了很多现实场景。我们也将在这篇文章一起...
3D 扩散策略:简单 3D 表示进行可泛化视觉运动的策略学习 24年6月来自上海姚期智研究院、上海交大、清华和上海AI实验室的论文“3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations”。 模仿学习为教授机器人灵巧技能提供了一种有效的方法;然而,稳健且可泛化地学习复杂技能通常需...
arXiv 2024.07,EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning, where DP3 is able to fold clothes with high success rates. arXiv 2024.06,ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation, where DP3 is accelerated via con...
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations. Add feature for including a render of compliant gripper. - mh-mu/DP3-Compliant-Gripper
- 3D Diffusion Policy (DP3)是一种新颖的视觉模仿学习方法,将3D视觉表示的能力融入到扩散策略中。 - DP3利用高效的点编码器从稀疏点云中提取紧凑的3D视觉表示。 - 在72个模拟任务的实验中,DP3只需10个演示即可成功完成大多数任务,并相对于基线方法有55.3%的相对改进。 - 在4个真实机器人任务中,DP3仅需40个...
arXiv 2024.07, EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning, where DP3 is able to fold clothes with high success rates. arXiv 2024.06, ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation, where DP3 is accelerated via...
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation 论文:https://arxiv.org/pdf/2412.02676 主页:https://glide-manip.github.io/ 直播信息 时间 2024年12月27日(周五)10:00 主题 3D点云+扩散模型+高质量演示数据!实现双臂机器人通用物体操作!
Title:EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning|https://arxiv.org/abs/2407.01479 Title:Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning|https://arxiv.org/abs/2407.01531 ...
In the future, these switching and mixing concepts can be extended towards material mixing at a molecular level for mechanical, electrical, or biomedical applications, for example, via diffusion. Scalability and parallelization for mass customization Beyond functional gradients, decoupling geometric from ...
Most existing reviews focus mainly on monocular 3D human pose estimation and a comprehensive survey only on multi-view approaches to determine the 3D pose has been missing since 2012. Thus, the goal of this survey is to fill that gap and present an overview of the methodologies related to 3D...