Robotics

Dichotomous Diffusion Policy Optimization
Diffusion-based policies have gained growing popularity in solving a wide range of decision-making tasks due to their superior …
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Dichotomous Diffusion Policy Optimization
Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Driving
End-to-End (E2E) solutions have emerged as a mainstream approach for autonomous driving systems, with Vision-Language-Action (VLA) …
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X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model
Successful generalist Vision-Language-Action (VLA) models rely on effective training across diverse robotic platforms with large-scale, …
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X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model
xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editing
Reusing pre-collected data from different domains is an appealing solution for decision-making tasks, especially when data in the …
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Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling
Modeling interactive driving behaviors in complex scenarios remains a fundamental challenge for autonomous driving planning. …
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Efficient Robotic Policy Learning via Latent Space Backward Planning
Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach …
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Efficient Robotic Policy Learning via Latent Space Backward Planning
Universal Actions for Enhanced Embodied Foundation Models
Training on diverse, internet-scale data is a key factor in the success of recent large foundation models. Yet, using the same recipe …
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Universal Actions for Enhanced Embodied Foundation Models
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps
Solving real-world complex tasks using reinforcement learning (RL) without high-fidelity simulation environments or large amounts of …
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Robo-MUTUAL: Robotic Multimodal Task Specification via Unimodal Learning
Multimodal task specification is essential for enhanced robotic performance, where Cross-modality Alignment enables the robot to …
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Diffusion-Based Planning for Autonomous Driving with Flexible Guidance
Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary …
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Diffusion-Based Planning for Autonomous Driving with Flexible Guidance