2 papers
cs.RO2026
AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
Andrew S. Morgan, Gregory Xie, Capprin Bass +23
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization te…
cs.RO2024
Equivariant Diffusion Policy
Dian Wang, Stephen Hart, David Surovik +7
Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback o…