amazon-science/Spherical_Diffusion_Policy
[ICML 2025] Official implementation of Spherical Diffusion Policy: A SE(3) Equivariant Visuomotor Policy with Spherical Fourier Representation
This project provides a robust solution for controlling robot arms to perform intricate manipulation tasks, even when objects are positioned differently. It takes visual input of a scene and desired task, then generates precise robot movements. Robotics researchers and engineers can use this to develop and test policies for robots that need to interact with objects reliably in various 3D orientations.
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Use this if you need to train a robot to perform manipulation tasks with high accuracy and generalization across diverse 3D object placements and scene configurations.
Not ideal if you are looking for a simple, plug-and-play solution for basic robot movements without complex 3D rotational generalization requirements.
Stars
39
Forks
7
Language
Python
License
MIT
Category
Last pushed
Jul 08, 2025
Commits (30d)
0
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