A next-frame point-cloud diffusion pre-training method (FVP) improves DP3 and RDT-1B manipulation success rates on the paper's own tasks.
Pointnet++: Deep hierarchical feature learning on point sets in a metric space.Advances in neural information processing systems, 30, 2017
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4D Visual Pre-training for Robot Learning
A next-frame point-cloud diffusion pre-training method (FVP) improves DP3 and RDT-1B manipulation success rates on the paper's own tasks.