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Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-Design
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Overview
Transformer Transformer is a unified model that generates a complete robot design optimized for specific tasks based on manipulation demonstrations. A prototype designed for cloth flinging on an ALOHA2 bimanual platform achieved a 73% reduction in tracking error and a 30% decrease in maximum joint speed compared to the original design.
Summary from transformer-transformer.github.io.
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transformer-transformer.github.io
Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-Design
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Hacker News · transformer-transformer.github.io
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