DALI-R boosts 3D imitation learning success rates by 6.8% on average from suboptimal trajectories via latent imagination and reranking, with under 0.7x inference cost.
Perceiver-actor: A multi-task transformer for robotic manipulation
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Data-Asymmetric Latent Imagination and Reranking for 3D Robotic Imitation Learning
DALI-R boosts 3D imitation learning success rates by 6.8% on average from suboptimal trajectories via latent imagination and reranking, with under 0.7x inference cost.