Advancements in Robotic Manipulation

This chapter explores advanced concepts in robotic manipulation, emphasizing the role of pre-training and fine-tuning methodologies in enhancing model performance. It compares various manipulation techniques, such as diffusion policies and FP3 methods, while revealing the significant advantages of incorporating 3D information into training. The discussion also highlights the challenges faced in real-world tasks and the impact of model size on success rates, offering insights into effective training data collection strategies.