Multimodal Diffusion Forcing trains a diffusion model on partially masked multimodal robot trajectories to learn temporal and cross-modal dependencies for forceful manipulation.
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A weightlessness mechanism enables humanoid robots to dynamically relax joints for stable, contact-rich motions across diverse environments without task-specific tuning.
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Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
A weightlessness mechanism enables humanoid robots to dynamically relax joints for stable, contact-rich motions across diverse environments without task-specific tuning.