title: Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies
summary: Humanoid robots capable of autonomous operation in diverse environments have
  long been a goal for roboticists. However, autonomous manipulation by humanoid
  robots has largely been restricted to one specific scene, primarily due to the
  difficulty of acquiring generalizable skills. Recent advances in 3D visuomotor
  policies, such as the 3D Diffusion Policy (DP3), have shown promise in
  extending these capabilities to wilder environments. However, 3D visuomotor
  policies often rely on camera calibration and point-cloud segmentation, which
  present challenges for deployment on mobile robots like humanoids. In this
  work, we introduce the Improved 3D Diffusion Policy (iDP3), a novel 3D
  visuomotor policy that eliminates these constraints by leveraging egocentric 3D
  visual representations. We demonstrate that iDP3 enables a full-sized humanoid
  robot to autonomously perform skills in diverse real-world scenarios, using
  only data collected in the lab. Videos are available at:
  https://humanoid-manipulation.github.io
paper_authors._id: 670de51d1cc9c1fdf0959026
paper_authors.name: Yanjie Ze
paper_authors.status: admin_assigned
paper_authors.statusLastChangedAt: 2024-10-15T16:37:10.802Z
paper_authors._id: 63509bc859bfa9a85d4220aa
paper_authors.avatarUrl: /avatars/ca2cc9b87f5ca5cd51606b2f9edf89d0.svg
paper_authors.fullname: Yanjie Ze
paper_authors.type: user
paper_authors.user: yjze
paper_authors._id: 670de51d1cc9c1fdf0959027
paper_authors.name: Zixuan Chen
paper_authors.status: claimed_verified
paper_authors.statusLastChangedAt: 2024-10-15T21:17:59.981Z
paper_authors._id: 64a02b4c1396c67ac07798bb
paper_authors.avatarUrl: /avatars/9b1b4319edbac5faeb7586a4933791d2.svg
paper_authors.fullname: Eric Chen
paper_authors.type: user
paper_authors.user: zxuannn
paper_authors._id: 670de51d1cc9c1fdf0959028
paper_authors.name: Wenhao Wang
paper_authors._id: 670de51d1cc9c1fdf0959029
paper_authors.name: Tianyi Chen
paper_authors._id: 670de51d1cc9c1fdf095902a
paper_authors.name: Xialin He
paper_authors.status: admin_assigned
paper_authors.statusLastChangedAt: 2024-10-15T16:38:10.895Z
paper_authors._id: 6332b75df0b2af7f685810da
paper_authors.avatarUrl: /avatars/078f582f555a9dee3f7ab4d155c0a65c.svg
paper_authors.fullname: Xialin He
paper_authors.type: user
paper_authors.user: MuLinjiu
paper_authors._id: 670de51d1cc9c1fdf095902b
paper_authors.name: Ying Yuan
paper_authors._id: 670de51d1cc9c1fdf095902c
paper_authors.name: Xue Bin Peng
paper_authors._id: 670de51d1cc9c1fdf095902d
paper_authors.name: Jiajun Wu
paper_authors.status: admin_assigned
paper_authors.statusLastChangedAt: 2024-10-15T16:37:48.920Z
paper_authors._id: 647b7b8345616c3de3627863
paper_authors.avatarUrl: /avatars/8196364bffed71086ba9a0a4a62027d3.svg
paper_authors.fullname: Jiajun Wu
paper_authors.type: user
paper_authors.user: jiajunwu
paper_title: Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies
paper_summary: Humanoid robots capable of autonomous operation in diverse environments have
  long been a goal for roboticists. However, autonomous manipulation by humanoid
  robots has largely been restricted to one specific scene, primarily due to the
  difficulty of acquiring generalizable skills. Recent advances in 3D visuomotor
  policies, such as the 3D Diffusion Policy (DP3), have shown promise in
  extending these capabilities to wilder environments. However, 3D visuomotor
  policies often rely on camera calibration and point-cloud segmentation, which
  present challenges for deployment on mobile robots like humanoids. In this
  work, we introduce the Improved 3D Diffusion Policy (iDP3), a novel 3D
  visuomotor policy that eliminates these constraints by leveraging egocentric 3D
  visual representations. We demonstrate that iDP3 enables a full-sized humanoid
  robot to autonomously perform skills in diverse real-world scenarios, using
  only data collected in the lab. Videos are available at:
  https://humanoid-manipulation.github.io
paper_ai_summary: An improved 3D diffusion policy enables autonomous manipulation by humanoid robots across diverse environments using egocentric visual representations.
paper_ai_keywords: 3D Diffusion Policy (DP3) 3D visuomotor policies egocentric 3D visual representations humanoid robots autonomous manipulation diverse environments