4 papers
MegaSlide-DiT: Memory-Centric Adaptation and Deformable Local Attention for Efficient Video Diffusion
Jiacheng Liu, Jason Liu
High-resolution video diffusion models built on Diffusion Transformers (DiTs) deliver strong fidelity but quickly exhaust the memory budget of a single workstation. A 100 billion-p…
TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning
Jiacheng Liu, Pengxiang Ding, Qihang Zhou +8
Recent Vision-Language-Action models show potential to generalize across embodiments but struggle to quickly align with a new robot's action space when high-quality demonstrations…
Efficient Online RL Fine Tuning with Offline Pre-trained Policy Only
Wei Xiao, Jiacheng Liu, Zifeng Zhuang +3
Improving the performance of pre-trained policies through online reinforcement learning (RL) is a critical yet challenging topic. Existing online RL fine-tuning methods require con…
Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
Pengxiang Ding, Jianfei Ma, Xinyang Tong +13
This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to d…