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cs.RO2025
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
Suning Huang, Qianzhong Chen, Xiaohan Zhang +2
3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolut…
cs.RO2025
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
Chengyang He, Gadiel Sznaier Camps, Xu Liu +2
We present Latent Theory of Mind (LatentToM), a decentralized diffusion policy architecture for collaborative robot manipulation. Our policy allows multiple manipulators with their…
cs.RO2025
Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives
Chengyang He, Xu Liu, Gadiel Sznaier Camps +2
Diffusion policies have demonstrated remarkable dexterity and robustness in intricate, high-dimensional robot manipulation tasks, while training from a small number of demonstratio…