7 papers
TIDAL: Temporally Interleaved Diffusion and Action Loop for High-Frequency VLA Control
Yuteng Sun, Haoran Wang, Ruofei Bai +4
Large-scale Vision-Language-Action (VLA) models offer semantic generalization but suffer from high inference latency, limiting them to low-frequency batch-and-execute paradigm. Thi…
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
Ruofei Bai, Jie Chen, Yuxin Cai +3
The success of generative models in language and visual generation has inspired extensive applications to generative robot planning. However, most existing works either focus on si…
AdaMorph: Unified Motion Retargeting via Embodiment-Aware Adaptive Transformers
Haoyu Zhang, Shibo Jin, Lusong Li +4
Retargeting human motion to heterogeneous robots is a fundamental challenge in robotics, primarily due to the severe kinematic and dynamic discrepancies between varying embodiments…
ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
Jie Chen, Yuxin Cai, Yizhuo Wang +5
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies…
FlashRecovery: Fast and Low-Cost Recovery from Failures for Large-Scale Training of LLMs
Haijun Zhang, Jinxiang Wang, Zhenhua Yu +20
Large language models (LLMs) have made a profound impact across various fields due to their advanced capabilities. However, training these models at unprecedented scales requires e…
Self-supervised Pretraining for Integrated Prediction and Planning of Automated Vehicles
Yangang Ren, Guojian Zhan, Chen Lv +3
Predicting the future of surrounding agents and accordingly planning a safe, goal-directed trajectory are crucial for automated vehicles. Current methods typically rely on imitatio…