Diffusion Policy models robot actions as a conditional diffusion process, outperforming prior state-of-the-art methods by 46.9% on average across 12 manipulation tasks from four benchmarks.
To ensure the consistency of initial conditions, we carefully adjusted the pose of the T block and the robot according to overlayed images from the top-down camera
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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Diffusion Policy models robot actions as a conditional diffusion process, outperforming prior state-of-the-art methods by 46.9% on average across 12 manipulation tasks from four benchmarks.