SafeBimanual adds VLM-scheduled safety cost functions to guide the denoising process of pre-trained bimanual diffusion policies, reporting improved success and safety.
INFORMS Journal on Computing36(6), 1654–1675 (2024) https://doi
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SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation
SafeBimanual adds VLM-scheduled safety cost functions to guide the denoising process of pre-trained bimanual diffusion policies, reporting improved success and safety.