1 citations · 1 across the 6 of their papers we have counts for
37 papers
Finite Difference Flow Optimization for RL Post-Training of Text-to-Image Models
David McAllister, Miika Aittala, Tero Karras +4
Reinforcement learning (RL) has become a standard technique for post-training diffusion-based image synthesis models, as it enables learning from reward signals to explicitly impro…
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
Playful Agentic Robot Learning
Junyi Zhang, Jiaxin Ge, Hanjun Yoo +17
Current agentic robot systems can write executable Code-as-Policy programs, observe feedback, and revise behavior across multiple attempts, but they remain largely task-driven: reu…
DiPOD: Diffusion Policy Optimization without Drifting Apart
Haozhe Jiang, Haiwen Feng, Pieter Abbeel +3
RL post-training has become increasingly pivotal for improving diffusion policies, but existing diffusion policy-gradient methods are often unstable and cannot achieve reliable pol…
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
Lujie Yang, Xiaoyu Huang, Zhen Wu +6
A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existin…