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Related Articles from SNS
Hyper-DP3: Frequency-Aware Right-Sizing of 3D Diffusion Policies for Visuomotor Control
Announce Type: replace Abstract: Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this design from a frequency-domain perspective. Robot action trajectories are highly smooth, with most energy concentrated in a few low-frequency discrete cosine transform modes.
Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
Announce Type: new Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting velocity field must simultaneously encode scene information and generate precise trajectories, increasing learning complexity and limiting performance on tasks demanding precise temporal coordination across multiple arms. To simplify this joint learning problem, we introduce Latent...