20 citations · 64 across the 14 of their papers we have counts for
4 papers · 1 filter
Controlling diverse robots by inferring Jacobian fields with deep networks
Sizhe Lester Li, Annan Zhang, Boyuan Chen +4
Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasib…
Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion
Boyuan Chen, Diego Marti Monso, Yilun Du +3
This paper presents Diffusion Forcing, a new training paradigm where a diffusion model is trained to denoise a set of tokens with independent per-token noise levels. We apply Diffu…
SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities
Boyuan Chen, Zhuo Xu, Sean Kirmani +6
Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language Models (VLM) have demons…
DittoGym: Learning to Control Soft Shape-Shifting Robots
Suning Huang, Boyuan Chen, Huazhe Xu +1
Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise f…