AI RESEARCH
Real-Time Operator Takeover for Visuomotor Diffusion Policy Training
arXiv CS.LG
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ArXi:2502.02308v3 Announce Type: replace-cross We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective nstrations. Within this framework, the operator can intervene to correct the robot's motion, after which control is smoothly returned to the policy until further intervention is needed.