HiPolicy is a new hierarchical multi-frequency action chunking method for imitation learning that jointly generates coarse and fine action sequences with entropy-guided execution to improve performance and efficiency in robotic manipulation.
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp
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HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
HiPolicy is a new hierarchical multi-frequency action chunking method for imitation learning that jointly generates coarse and fine action sequences with entropy-guided execution to improve performance and efficiency in robotic manipulation.