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cs.RO2026
ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
Jiawen Wang, Kevin Yao, Khalid Jawed
Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware mo…
cs.RO2026
Neural Control: Adjoint Learning Through Equilibrium Constraints
Dezhong Tong, Jiawen Wang, Hengyi Zhou +3
Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied, and the resulting configuration is obtained by solving an equilibrium p…