[memo]RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

RDT-1B: A DIFFUSION FOUNDATION MODEL FOR
BIMANUAL MANIPULATION

Abstract

• Bimanual manipulation
• Robotic diffusion transformer
• Finetune RDT

Introduction

• previous models: task-specific
• Limited to small-scale model
• Bimanual manipulation foundation models
• Dual challenges
  • data scarcity: getting data is difficult
  • architectural limitation

Conclusion

• Challenges of data scarcity and increased manipulation complexity

- Pre-trained on multi-robot dataset