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cs.RO2024
Diffusion Policy Policy Optimization
Allen Z. Ren, Justin Lidard, Lars L. Ankile +6
We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in conti…
cs.RO2024
GHIL-Glue: Hierarchical Control with Filtered Subgoal Images
Kyle B. Hatch, Ashwin Balakrishna, Oier Mees +8
Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function…
cs.RO2024
OpenVLA: An Open-Source Vision-Language-Action Model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti +15
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rath…