Hyper-DP3
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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.