DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
AdaFlow: Imitation Learning with Variance- Adaptive Flow-Based Policies, November 2024
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SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.
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DSSP: Diffusion State Space Policy with Full-History Encoding
DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
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SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
SID achieves approximately 90% success on six real-world manipulation tasks with only two demonstrations under out-of-distribution initializations, with less than 10% performance drop under distractors and disturbances.
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GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
GR00T N1 is a new open VLA foundation model for humanoid robots that outperforms imitation learning baselines in simulation and shows strong performance on real-world bimanual manipulation tasks.