Vision-Language-Action Model & Diffusion Policy Switching Enables Dexterous Control of an Robot Hand скачать в хорошем качестве

Vision-Language-Action Model & Diffusion Policy Switching Enables Dexterous Control of an Robot Hand

check our paper: http://arxiv.org/abs/2410.14022 website: https://vla-diffu-switch.github.io/ To advance autonomous dexterous manipulation, we propose a hybrid control method that combines the relative advantages of a fine-tuned Vision-Language-Action (VLA) model and diffusion models. The VLA model provides language commanded high-level planning, which is highly generalizable, while the diffusion model handles low-level interactions which offers the precision and robustness required for specific objects and environments. By incorporating a switching signal into the training-data, we enable event based transitions between these two models for a pick-and-place task where the target object and placement location is commanded through language. This approach is deployed on our anthropomorphic ADAPT Hand 2, a 13DoF robotic hand, which incorporates compliance through series elastic actuation allowing for resilience for any interactions: showing the first use of a multi-fingered hand controlled with a VLA model. We demonstrate this model switching approach results in a over 80% success rate compared to under 40% when only using a VLA model, enabled by accurate near-object arm motion by the VLA model and a multi-modal grasping motion with error recovery abilities from the diffusion model.