A diffusion-based policy that jointly predicts future video latents and actions improves bimanual manipulation success, with video prediction used only during training.
Diffusion policy: Visuomotor policy learning via action dif- fusion
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Diffusion-Based Imaginative Coordination for Bimanual Manipulation
A diffusion-based policy that jointly predicts future video latents and actions improves bimanual manipulation success, with video prediction used only during training.