VADF adds an Adaptive Loss Network for hard-negative training sampling and a Hierarchical Vision Task Segmenter for adaptive noise scheduling during inference to speed convergence and reduce timeouts in diffusion robotic policies.
In: Proceedings of the Computer Vision and Pattern Recognition Conference
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VADF: Vision-Adaptive Diffusion Policy Framework for Efficient Robotic Manipulation
VADF adds an Adaptive Loss Network for hard-negative training sampling and a Hierarchical Vision Task Segmenter for adaptive noise scheduling during inference to speed convergence and reduce timeouts in diffusion robotic policies.