Multi-task pretraining of diffusion policies on diverse robot data produces more successful, robust, and data-efficient policies for dexterous manipulation than single-task baselines, with performance scaling with pretraining size and diversity.
Legato: Cross-embodiment imitation using a grasping tool
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A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
Multi-task pretraining of diffusion policies on diverse robot data produces more successful, robust, and data-efficient policies for dexterous manipulation than single-task baselines, with performance scaling with pretraining size and diversity.