نسخة أولية وصول مفتوح
Equivariant Visual-Tactile Diffusion Policy for Contact-Rich Manipulation
Imitation learning for contact-rich manipulation requires high-quality expert data that is expensive to obtain. This makes learning a sample-efficient policy a key issue. To address this, we propose VISTA, a workspace-level equivariant visuotactile diffusion policy for data-efficient contact-rich imitation learning. VI …