A diffusion-based visuomotor policy gains 3D and 4D scene awareness from a dynamic Gaussian world model, improving simulated and real robot manipulation success rates.
Implicit behavioral cloning
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Spatial-Temporal Aware Visuomotor Diffusion Policy Learning
A diffusion-based visuomotor policy gains 3D and 4D scene awareness from a dynamic Gaussian world model, improving simulated and real robot manipulation success rates.