notesum.ai

Published at November 22

Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation

cs.RO

Released Date: November 22, 2024

Authors: Huy Le, Miroslav Gabriel, Tai Hoang, Gerhard Neumann, Ngo Anh Vien

Arxiv: http://arxiv.org/abs/2411.14913v1

Refer to caption

Object	HACMan	HyDo (w/o Diff)	HyDo	HyDo $+$ CM
Lego	6/10 6/10	8/10 5/10	8/10 6/10	9/10 7/10
Lotion	6/10 5/10	7/10 6/10	8/10 7/10	7/10 7/10
Milk	4/10 6/10	8/10 6/10	7/10 7/10	8/10 7/10
Soja	5/10 5/10	6/10 4/10	6/10 6/10	7/10 5/10
Cube	5/10 5/10	8/10 6/10	8/10 5/10	9/10 6/10
Total	26/50 27/50	37/50 27/50	37/50 31/50	40/50 32/50