From the 2 of 9 linked papers with an AI index.
9 papers
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…
SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation
Yi Wu, Junjie An, Xiao Liu +6
SoftNav introduces a method to embed continuous 3D object representations as soft tokens directly into a frozen vision‑language model, enabling efficient embodied navigation with m…
What Can RL Bring to VLA Generalization? An Empirical Study
Jijia Liu, Feng Gao, Bingwen Wei +5
Large Vision-Language Action (VLA) models have shown significant potential for embodied AI. However, their predominant training via supervised fine-tuning (SFT) limits generalizati…
Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps
Ningyuan Yang, Jiaxuan Gao, Feng Gao +2
Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due…
D3P: Dynamic Denoising Diffusion Policy via Reinforcement Learning
Shu-Ang Yu, Feng Gao, Yi Wu +2
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deploym…
What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study
Jiayu Chen, Chao Yu, Yuqing Xie +9
Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat traj…