本周四｜具身智能，全球最大双臂机器人扩散大模型RDT，清华，开源

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报告主题： 双臂机器人扩散大模型RDT 报告日期： 11 月07日（周四）10:30-11:30 报告要点: Bimanual manipulation is essential in robotics, yet developing foundation models is extremely challenging due to the inherent complexity of coordinating two robot arms (leading to multi-modal action distributions) and the scarcity of training data. In this paper, we present the Robotics Diffusion Transformer (RDT), a pioneering diffusion foundation model for bimanual manipulation. RDT builds on diffusion models to effectively represent multi-modality, with innovative designs of a scalable Transformer to deal with the heterogeneity of multi-modal inputs and to capture the nonlinearity and high frequency of robotic data. To address data scarcity, we further introduce a Physically Interpretable Unified Action Space, which can unify the action representations of various robots while preserving the physical meanings of original actions, facilitating learning transferrable physi ………………………………