GLIDE trains one point-cloud diffusion policy on planner-generated simulation trajectories and successfully reorients diverse objects, including out-of-distribution shapes, with two robot arms in the real world.
Dexterous contact-rich manipulation via the contact trust region,
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Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
GLIDE trains one point-cloud diffusion policy on planner-generated simulation trajectories and successfully reorients diverse objects, including out-of-distribution shapes, with two robot arms in the real world.