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cs.RO2026
PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation
Lingxuan Wu, Zijian Zhu, Lizhong Wang +5
Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing appro…
cs.RO2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
Songming Liu, Lingxuan Wu, Bangguo Li +6
Bimanual manipulation is essential in robotics, yet developing foundation models is extremely challenging due to the inherent complexity of coordinating two robot arms (leading to…