A three-layer hierarchical system using a VLM planner and VLM skill monitor with imitation-learned skills and an RL tracking policy achieved 73% success on a real humanoid pick-and-place task.
Diffusion policy: Visuomotor policy learning via action diffusion
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Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation
A three-layer hierarchical system using a VLM planner and VLM skill monitor with imitation-learned skills and an RL tracking policy achieved 73% success on a real humanoid pick-and-place task.