A post-optimization framework that blends overlapping action chunks and minimizes jerk under bounded perturbations improves smoothness and throwing success for a learned robot policy.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots,
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LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies
A post-optimization framework that blends overlapping action chunks and minimizes jerk under bounded perturbations improves smoothness and throwing success for a learned robot policy.