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title
3D Diffuser Actor
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robot learning, diffusion models, 3D vision, imitation learning, deep learning, robotics, manipulation
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3D Diffuser Actor: Policy Diffusion with 3D Scene Representations 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations Tsung-Wei Ke* Nikolaos Gkanatsios* Katerina Fragkiadaki Carnegie Mellon University CoRL 2024 * Equal Contribution description Paper code Code science Checkpoints folder Data 3D Diffuser Actor Abstract We marry diffusion policies and 3D scene representations for robot manipulation. Diffusion policies learn the action distribution conditioned on the robot and environment state using conditional diffusion models. They have recently shown to outperform both deterministic and alternative state-conditioned action distribution learning methods. 3D robot policies use 3D scene feature representations aggregated from a single or multiple camera views using sensed depth. They have s...
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