7 papers · 1 filter
Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
Zhexuan Zhou, Yichen Lai, Jinhao Zhang +3
Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting…
Hyper-DP3: Frequency-Aware Right-Sizing of 3D Diffusion Policies for Visuomotor Control
Jinhao Zhang, Zhexuan Zhou, Huizhe Li +5
Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this…
Decentralized End-to-End Multi-AAV Pursuit Using Predictive Spatio-Temporal Observation via Deep Reinforcement Learning
Yude Li, Zhexuan Zhou, Huizhe Li +6
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely…
PocketDP3: Efficient Pocket-Scale 3D Visuomotor Policy
Jinhao Zhang, Zhexuan Zhou, Huizhe Li +5
Recently, 3D vision-based diffusion policies have shown strong capability in learning complex robotic manipulation skills. However, a common architectural mismatch exists in these…
Information Filtering via Variational Regularization for Robot Manipulation
Jinhao Zhang, Wenlong Xia, Yaojia Wang +6
Diffusion-based visuomotor policies built on 3D visual representations have achieved strong performance in learning complex robotic skills. However, most existing methods employ an…
Acetrans: An Autonomous Corridor-Based and Efficient UAV Suspended Transport System
Weiyan Lu, Huizhe Li, Yuhao Fang +5
Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face…
Agile in the Face of Delay: Asynchronous End-to-End Learning for Real-World Aerial Navigation
Yude Li, Zhexuan Zhou, Huizhe Li +2
Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: th…