3 papers
cs.LG2025
Flow Matching Policy Gradients
David McAllister, Songwei Ge, Brent Yi +5
Flow-based generative models, including diffusion models, excel at modeling continuous distributions in high-dimensional spaces. In this work, we introduce Flow Policy Optimization…
cs.RO2025
Visual Imitation Enables Contextual Humanoid Control
Arthur Allshire, Hongsuk Choi, Junyi Zhang +7
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human…
cs.CV2025
Decentralized Diffusion Models
David McAllister, Matthew Tancik, Jiaming Song +1
Large-scale AI model training divides work across thousands of GPUs, then synchronizes gradients across them at each step. This incurs a significant network burden that only centra…