A Comparative Study on State-Action Spaces for Learning Viewpoint Selection and Manipulation with Diffusion Policy

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots could jointly learn a policy for dynamic viewpoint and manipula...

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Veröffentlicht in:	arXiv.org 2024-11
Hauptverfasser:	Sun, Xiatao, Fan, Francis, Chen, Yinxing, Rakita, Daniel
Format:	Artikel
Sprache:	eng
Schlagworte:	Cameras Comparative studies Configuration management End effectors Euler angles Inverse kinematics Learning Representations Robot learning Robotic surgery Robotics Rotation Solvers Task complexity
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