← Back to Benchmarks
simmediumlocomotionmetric · varies
FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
Description
We present FoundAtion-model-guided decoupled LoCO-maNipulation visuomotor policies (FALCON), a framework for loco-manipulation that combines modular diffusion policies with a vision-language foundation model as the coordinator. Our approach explicitly decouples locomotion and manipulation into two specialized visuomotor policies, allowing each subsystem to rely on its own observations. This mitigates the performance degradation that arise when a single policy is forced to fuse heterogeneous, pot