MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Reference
Behavior-cloned visuomotor policies can remain accurate near their training distribution yet fail when object position and camera viewpoint change together. A successful reference trajectory contains the geometry needed to transfer the same interaction, but the policy must align that geometry with the current scene and...
Tan Su, Hao-Xiang Yang, Ru-Xin Wang et al.
· 0 citations