5 papers
Hand2Robot: Object-Centric 4D Hand Reconstruction from Human Demonstrations for Robotics
Zetao Du, Weiqing Wang, Hanbing Zhang +4
Human demonstrations can capture task-relevant manipulation without using the target robot, but the recorded hand motions cannot directly serve as robot action supervision. Hand re…
CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance
Shutong Ding, Zhaoyang Liu, Yimiao Zhou +3
Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal act…
FASTER: Fast Adjoint Stochastic Transport for Endpoint Refinement in Reward-Guided Image Editing
Yimiao Zhou, Zejia Zhong, Jingya Wang +1
Reward-guided image editing at test time seeks to improve a specified reward while preserving source content and visual plausibility. Many existing approaches optimize candidates t…
Distributional Reinforcement Learning with Diffusion Bridge Critics
Shutong Ding, Yimiao Zhou, Ke Hu +5
Recent advances in diffusion-based reinforcement learning (RL) methods have demonstrated promising results in a wide range of continuous control tasks. However, existing works in t…
Diffusion-based learning framework for Constrained Nonconvex Optimization with Weighted Bootstrapped Refinement
Shutong Ding, Yimiao Zhou, Ke Hu +4
Recent advances in diffusion models show promising potential to accelerate nonconvex problem solving by leveraging their multimodality. However, most existing diffusion-based optim…