flâneur

[2410.22332] Local Policies Enable Zero-shot Long-horizon Manipulation

arxiv.org · 224 words · saved by 1 readers

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View PDF HTML (experimental) Abstract:Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we introduce ManipGen, which leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning and demonstrate SOTA zero-shot…

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