Low-cost imprecise robots achieve 80-90% success on six fine bimanual manipulation tasks using imitation learning with a new Action Chunking with Transformers algorithm trained on only 10 minutes of demonstrations.
The surprising effectiveness of representation learning for visual imitation
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DP3 uses compact 3D representations from sparse point clouds inside diffusion policies to learn generalizable visuomotor skills from few demonstrations, reporting 24% gains in simulation and 85% success on real robots.
A low-cost whole-body teleoperation system enables effective imitation learning for complex bimanual mobile manipulation by co-training on mobile and static demonstration datasets.
A visual encoder pre-trained on diverse human videos with contrastive and language objectives improves simulated robot manipulation success by over 20% versus training from scratch and enables real Franka arm tasks from 20 demonstrations.
citing papers explorer
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
Low-cost imprecise robots achieve 80-90% success on six fine bimanual manipulation tasks using imitation learning with a new Action Chunking with Transformers algorithm trained on only 10 minutes of demonstrations.
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3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
DP3 uses compact 3D representations from sparse point clouds inside diffusion policies to learn generalizable visuomotor skills from few demonstrations, reporting 24% gains in simulation and 85% success on real robots.
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Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
A low-cost whole-body teleoperation system enables effective imitation learning for complex bimanual mobile manipulation by co-training on mobile and static demonstration datasets.
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R3M: A Universal Visual Representation for Robot Manipulation
A visual encoder pre-trained on diverse human videos with contrastive and language objectives improves simulated robot manipulation success by over 20% versus training from scratch and enables real Franka arm tasks from 20 demonstrations.