HyDo combines diffusion-model policies with maximum entropy RL in a hybrid discrete/continuous action space, improving success rates on non-prehensile manipulation tasks.
Robust execution of contact-rich motion plans by hybrid force-velocity control,
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Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation
HyDo combines diffusion-model policies with maximum entropy RL in a hybrid discrete/continuous action space, improving success rates on non-prehensile manipulation tasks.