13 papers
ECoSim: Data Efficient Fine-Tuning for Controllable Traffic Simulation
Yu-Hsiang Chen, Wei-Jer Chang, Yi-Ting Chen +1
Controllable traffic simulation is critical for testing autonomous driving systems, yet existing approaches often require retraining large generative models with extensive annotate…
URoPE: Universal Relative Position Embedding across Geometric Spaces
Yichen Xie, Depu Meng, Chensheng Peng +4
Relative position embedding has become a standard mechanism for encoding positional information in Transformers. However, existing formulations are typically limited to a fixed geo…
Scaling Nonlinear Optimization: Many Problems One GPU
John Viljoen, Johanna Haffner, Masayoshi Tomizuka +1
Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning, reduce to nonlinear programs (NLPs). Mature NLP solvers such as IPO…
TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation
Jianuo Cao, Yuxin Chen, Yuzhen Song +3
Text-conditioned motion generation is a promising interface for programming humanoid robots, yet current generators are often trained on human motion datasets retargeted to robot m…
DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Pengcheng Wang, Kaiwen Hong, Chensheng Peng +4
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast t…
Towards Interactive Video World Modeling: Frontiers, Challenges, Benchmarks, and Future Trends
Jiuming Liu, Chaojun Ni, Mengmeng Liu +7
With rapid development of large language models and diffusion-based content generation, world modeling has attracted increasing research attention, benefiting various downstream do…