8 papers
Action Learning for Scientific Simulations
Sarah Liaw, Yuanqi Du, Yilun Du
Understanding and controlling how systems evolve is central to science and engineering, where many problems require reasoning about complete trajectories. Existing approaches typic…
Trajectory Planning without Trajectory Data: A Manifold-Guided Approach
Silong Yong, Anji Liu, Cunxi Dai +5
A common way for trajectory planning is to leverage generative models trained on large collections of expert trajectories. At inference time, the model generates executable traject…
Long-Text-to-Image Generation via Compositional Prompt Decomposition
Jen-Yuan Huang, Tong Lin, Yilun Du
While modern text-to-image (T2I) models excel at generating images from intricate prompts, they struggle to capture the key details when the inputs are descriptive paragraphs. This…
Update-Free On-Policy Steering via Verifiers
Maria Attarian, Ian Vyse, Jasper Gerigk +7
In recent years, Behavior Cloning (BC) has become one of the most prevalent methods for learning manipulation from human demonstrations. Despite their successes, BC policies are of…
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Wule Mao, Zhouheng Li, Yunhao Luo +2
Achieving safe, efficient, and kinematically feasible planning in dynamic environments remains a significant challenge, as planners must simultaneously handle moving obstacles, sen…
Generative Trajectory Stitching through Diffusion Composition
Yunhao Luo, Utkarsh A. Mishra, Yilun Du +1
Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limi…
Grounding Video Models to Actions through Goal Conditioned Exploration
Yunhao Luo, Yilun Du
Large video models, pretrained on massive amounts of Internet video, provide a rich source of physical knowledge about the dynamics and motions of objects and tasks. However, video…
Compositional Diffusion Models for Powered Descent Trajectory Generation with Flexible Constraints
Julia Briden, Yilun Du, Enrico M. Zucchelli +1
This work introduces TrajDiffuser, a compositional diffusion-based flexible and concurrent trajectory generator for 6 degrees of freedom powered descent guidance. TrajDiffuser is a…