4 papers
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5
Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may violate deployment constraints. For task-space robot policies, generated…
EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies
Ning Gao, Jinliang Zheng, Xing Gao +22
We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging ma…
EruDiff: Refactoring Knowledge in Diffusion Models for Advanced Text-to-Image Synthesis
Xiefan Guo, Xinzhu Ma, Haoxiang Ma +2
Text-to-image diffusion models have achieved remarkable fidelity in synthesizing images from explicit text prompts, yet exhibit a critical deficiency in processing implicit prompts…
GraspLDP: Towards Generalizable Grasping Policy via Latent Diffusion
Enda Xiang, Haoxiang Ma, Xinzhu Ma +2
This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have rece…