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simmediummobile-manipulationmetric · varies
DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation
Description
Learning whole-body mobile manipulation via imitation is essential for generalizing robotic skills to diverse environments and complex tasks. However, this goal is hindered by significant challenges, particularly in effectively processing complex observation, achieving robust generalization, and generating coherent actions. To address these issues, we propose DSPv2, a novel policy architecture. DSPv2 introduces an effective encoding scheme that aligns 3D spatial features with multi-view 2D seman