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Visuomotor Policies
Riemannian Flow Matching Policy for Robot Motion Learning
Published:3/16/2024
Flow Matching PoliciesRobotic Action LearningVisuomotor PoliciesRiemannian Flow Matching PolicyGeometric-Aware Robot Control
The paper presents Riemannian Flow Matching Policies (RFMP), a model for learning robot visuomotor strategies that excels in efficient training and inference. RFMP effectively manages highdimensional, multimodal distributions and incorporates geometric awareness, outperforming e
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Fast and Robust Visuomotor Riemannian Flow Matching Policy
Published:12/14/2024
Riemannian Flow Matching PolicyVisuomotor PoliciesStable Riemannian Flow Matching PolicyRobotic Task LearningGeometric Constraints
The paper introduces the Riemannian Flow Matching Policy (RFMP) for visuomotor tasks, offering fast inference and easy training. It incorporates geometric constraints for robustness and outperforms traditional diffusion policies in real and simulated tasks.
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