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Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation.
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Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Aaditya Prasad 1 , Kevin Lin 1 , Jimmy Wu 2 , Linqi Zhou 1 , Jeannette Bohg 1 1 Stanford University 2 Princeton University RSS 2024 Paper arXiv Code Consistency Policy Diffusion Policy Consistency Policy accelerates Diffusion Policy for real time inference on compute constrained robotics platforms. The above videos are 4x sped up for brevity. All other videos are 1x speed. Abstract Many robotic systems, such as mobile manipulators or quadrotors, cannot be equipped with high-end GPUs due to space, weight, and power constraints. These constraints prevent these systems from leveraging recent developments in visuomotor policy architectures that require high-end GPUs to achieve fast policy inference. In this paper, we propose Consistency Policy, a faster and similarly powerful ...
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