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cs.RO2025
DM1: MeanFlow with Dispersive Regularization for 1-Step Robotic Manipulation
Guowei Zou, Haitao Wang, Hejun Wu +3
The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have re…
cs.CL2025
Thinking Before You Speak: A Proactive Test-time Scaling Approach
Cong Liu, Wenchang Chai, Hejun Wu +3
Large Language Models (LLMs) often exhibit deficiencies with complex reasoning tasks, such as maths, which we attribute to the discrepancy between human reasoning patterns and thos…
cs.AI2025
D2PPO: Diffusion Policy Policy Optimization with Dispersive Loss
Guowei Zou, Weibing Li, Hejun Wu +3
Diffusion policies excel at robotic manipulation by naturally modeling multimodal action distributions in high-dimensional spaces. Nevertheless, diffusion policies suffer from diff…