A point cloud plus diffusion policy with gripper-based coordinates and rotation augmentation learns 3D manipulation skills from 10 demos and generalizes to spatial variations.
You only demonstrate once: Category-level manipulation from single visual demonstration,
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Learning Generalizable 3D Manipulation With 10 Demonstrations
A point cloud plus diffusion policy with gripper-based coordinates and rotation augmentation learns 3D manipulation skills from 10 demos and generalizes to spatial variations.