4 citations · 5 across the 14 of their papers we have counts for
9 papers · 1 filter
Subsecond 3D Mesh Generation for Robot Manipulation
Qian Wang, Omar Abdellall, Tony Gao +2
3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that…
Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
Xiatao Sun, Yuxuan Wang, Shuo Yang +2
Diffusion policies are a powerful paradigm for robot learning, but their training is often inefficient. A key reason is that networks must relearn fundamental spatial concepts, suc…
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking
Xiatao Sun, Yinxing Chen, Daniel Rakita
Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose…
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
Xiatao Sun, Shuo Yang, Yinxing Chen +3
Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large numb…
Developing Path Planning with Behavioral Cloning and Proximal Policy Optimization for Path-Tracking and Static Obstacle Nudging
Mingyan Zhou, Biao Wang, Tian Tan +1
In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit…
Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policy
Xiatao Sun, Francis Fan, Yinxing Chen +1
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where…