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ManipGen
minliu01/ManipGen
ManipGen is a robotics model from minliu01. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as mit.
ManipGen is a generalist agent for long-horizon robotic manipulation. It leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariance…
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Updated Jan 19, 2025
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827 MB
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At a glance
- Task
- Robotics
- License
- mit
- Access
- Public
- Created
- Jan 13, 2025
- Updated
- Jan 19, 2025
- SHA
- f5011117
Model card
From the Hugging Face model README
ManipGen
ManipGen is a generalist agent for long-horizon robotic manipulation. It leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning to solve a wide range of long-horizon manipulation tasks in the real world zero-shot.
All ManipGen checkpoints, as well as our codebase are released under an MIT License.
For full details, please read our paper and see our project page.
Model Summary
<!-- Provide a longer summary of what this model is. -->- Developed by: The ManipGen team consisting of researchers from Carnegie Mellon University and Apple.
- License: MIT
- Repository: https://github.com/mihdalal/manipgen
- Paper: https://arxiv.org/abs/2410.22332
- Project website & videos: https://mihdalal.github.io/manipgen/
- Task
- Robotics
- License
- mit
- Languages
- en
- Created
- Jan 13, 2025
- Updated
- Jan 19, 2025