Coordinated Humanoid Manipulation with Choice Policies
Analysis
Key Takeaways
- •Proposes a system for coordinated humanoid manipulation using a modular teleoperation interface and Choice Policy.
- •Choice Policy, an imitation learning approach, generates and scores multiple candidate actions.
- •Demonstrates superior performance compared to diffusion policies and behavior cloning.
- •Highlights the importance of hand-eye coordination in long-horizon tasks.
- •Validates the approach on real-world tasks like dishwasher loading and whiteboard wiping.
“Choice Policy significantly outperforms diffusion policies and standard behavior cloning.”