4 papers
Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution
Zhanyi Sun, Shuran Song
Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to…
A Practical Guide for Incorporating Symmetry in Diffusion Policy
Dian Wang, Boce Hu, Shuran Song +2
Recently, equivariant neural networks for policy learning have shown promising improvements in sample efficiency and generalization, however, their wide adoption faces substantial…
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du, Shuran Song
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, req…
Rectified Point Flow: Generic Point Cloud Pose Estimation
Tao Sun, Liyuan Zhu, Shengyu Huang +2
We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative pro…