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cs.RO2026
Sparse ActionGen: Accelerating Diffusion Policy with Real-time Pruning
Kangye Ji, Jianbo Zhou, Yuan Meng +3
Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it imprac…
cs.RO2025
Spatial Policy: Guiding Visuomotor Robotic Manipulation with Spatial-Aware Modeling and Reasoning
Yijun Liu, Yuwei Liu, Yuan Meng +8
Vision-centric hierarchical embodied models have demonstrated strong potential. However, existing methods lack spatial awareness capabilities, limiting their effectiveness in bridg…