Papers
Topics
Authors
Recent
Assistant
AI Research Assistant
Well-researched responses based on relevant abstracts and paper content.
Custom Instructions Pro
Preferences or requirements that you'd like Emergent Mind to consider when generating responses.
Gemini 2.5 Flash
Gemini 2.5 Flash 163 tok/s
Gemini 2.5 Pro 50 tok/s Pro
GPT-5 Medium 36 tok/s Pro
GPT-5 High 35 tok/s Pro
GPT-4o 125 tok/s Pro
Kimi K2 208 tok/s Pro
GPT OSS 120B 445 tok/s Pro
Claude Sonnet 4.5 36 tok/s Pro
2000 character limit reached

RoLD: Robot Latent Diffusion for Multi-task Policy Modeling (2403.07312v3)

Published 12 Mar 2024 in cs.RO

Abstract: Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-LLMs, thus limiting their multi-task performance and practical applications. In this study, we propose a novel approach that decouples robot action trajectory encoding and control policy generation by leveraging latent action trajectory spaces, enhancing the generalization ability of policy generation on multi-task manipulation tasks. First, we pre-train a task-agnostic auto-encoder to project an action trajectory of several frames accompanied with observations into a latent action trajectory space on large-scale datasets collected with multiple embodiments in various environments. Then we propose learning a diffusion model based on the latent action trajectory space to generate actions of next steps. Through experiments on two widely used benchmarks, results demonstrate that our proposed method outperforms baselines by 7%-29% in terms of average success rate across eight tasks. Our method can consistently benefit from pre-training while baselines cannot. Our method is more than two times faster than our baseline.

Citations (1)

Summary

We haven't generated a summary for this paper yet.

Lightbulb Streamline Icon: https://streamlinehq.com

Continue Learning

We haven't generated follow-up questions for this paper yet.

List To Do Tasks Checklist Streamline Icon: https://streamlinehq.com

Collections

Sign up for free to add this paper to one or more collections.

X Twitter Logo Streamline Icon: https://streamlinehq.com

Tweets

This paper has been mentioned in 1 tweet and received 1 like.

Upgrade to Pro to view all of the tweets about this paper: