DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy

Understand

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data.

• Our approach is based on two insights.
• First, the hand motion in a human demonstration provides a useful prior for the robot's end-effector trajectory, which we can convert into a rough open-loop robot motion trajectory via kinematic retargeting.
• Second, while this retargeted motion captures the overall structure of the task, it may not align well with plausible robot actions in-context.