3 papers
cs.RO2025
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
Yutong Hu, Pinhao Song, Kehan Wen +1
We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from…
cs.LG2024
MPC: Test-time Model Predictive Control for Pretrained Masked Trajectory Model
Kehan Wen, Yutong Hu, Yao Mu +1
Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships bet…
cs.RO2024
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
Yutong Hu, Kehan Wen, Fisher Yu
Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, j…