1 citations · 1 across the 3 of their papers we have counts for
3 papers
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Nikita Chernyadev, Nicholas Backshall, Xiao Ma +3
We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, rangin…
Redundancy-aware Action Spaces for Robot Learning
Pietro Mazzaglia, Nicholas Backshall, Xiao Ma +1
Joint space and task space control are the two dominant action modes for controlling robot arms within the robot learning literature. Actions in joint space provide precise control…
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation
Xiao Ma, Sumit Patidar, Iain Haughton +1
This paper introduces Hierarchical Diffusion Policy (HDP), a hierarchical agent for multi-task robotic manipulation. HDP factorises a manipulation policy into a hierarchical struct…