#diffusion policies
7 papers match
FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation
Lifeng Zhuo, Wendi Chen, Han Xue +4
The paper introduces FA-RDP, a diffusion‑based policy that adapts its inference frequency during contact‑rich manipulation, using a multi‑frequency visual‑force transformer and a m…
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
The paper introduces X-NavDP, a diffusion-based visual navigation policy that is fine‑tuned with a novel Group Q-score Reweighted Matching (GQRM) reinforcement learning framework t…
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu +5
NavCMPO is a two-stage framework for mapless visual navigation that combines few-step diffusion trajectory generation, critic‑guided refinement, and PPO fine‑tuning to improve succ…
Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation
Honglu He, Jacob Laufer, Zhiwu Zheng +8
The paper introduces the Industrial Dexterity Benchmark (IDB) boards for evaluating industrial dexterous tasks, a scalable imitation‑learning framework (DAG‑ROS), and a multimodal…
SANTS: A State-Adaptive Scheduler for World Action Models
Yirui Sun, Guangyu Zhuge, Keliang Liu +4
The paper introduces SANTS, a lightweight scheduler that adaptively decides how much video denoising to perform before generating robot actions, improving manipulation success whil…
Reducing Temporal Redundancy for Efficient Vision-Language-Action Inference
Yuzhou Wu, Yuxin Zheng, Muchun Niu +6
The paper introduces a system-level acceleration for vision-language-action models by incrementally updating visual tokens for dynamic regions and compressing diffusion-based polic…