5 citations · 7 across the 8 of their papers we have counts for
4 papers · 1 filter
ReaDiT Guidance: Control for Image and Video Generation using Diffusion Transformer Features
Jay Mahajan, Chang Liu, Rauf Makharov +3
We present DiT Readout (ReaDiT) Guidance, a lightweight framework for controlling generation with Diffusion Transformer (DiT) models via their internal feature representations. Rea…
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali +2
Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging. We propose Physics-G…
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Dwip Dalal, Shivansh Patel, Chahit Jain +8
Finetuning a pretrained vision-language model (VLM) on robot demonstrations via behavior cloning (BC) has become the standard recipe for vision-language-action (VLA) policies. Howe…
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
Leo Lin, Shivansh Patel, Jay Moon +2
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not u…