5 papers · 1 filter
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
Ruofei Bai, Jie Chen, Yuxin Cai +3
The success of generative models in language and visual generation has inspired extensive applications to generative robot planning. However, most existing works either focus on si…
ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
Jie Chen, Yuxin Cai, Yizhuo Wang +5
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies…
Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies
Junhe Sheng, Ruofei Bai, Kuan Xu +5
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, b…
EqDrive: Efficient Equivariant Motion Forecasting with Multi-Modality for Autonomous Driving
Yuping Wang, Jier Chen
Forecasting vehicular motions in autonomous driving requires a deep understanding of agent interactions and the preservation of motion equivariance under Euclidean geometric transf…
Equivariant Map and Agent Geometry for Autonomous Driving Motion Prediction
Yuping Wang, Jier Chen
In autonomous driving, deep learning enabled motion prediction is a popular topic. A critical gap in traditional motion prediction methodologies lies in ensuring equivariance under…