5 papers
XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges
Khang Nguyen, Minh Nhat Vu
Generative robotic motion planning requires not only the synthesis of smooth and collision-free trajectories but also feasibility across diverse tasks and dynamic constraints. Prio…
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
Khang Nguyen, An T. Le, Jan Peters +1
Achieving robust robot learning for humanoid locomotion is a fundamental challenge in model-based reinforcement learning (MBRL), where environmental stochasticity and randomness ca…
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion
Khang Nguyen, Khai Nguyen, An T. Le +4
Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics…
Model Tensor Planning
An T. Le, Khai Nguyen, Minh Nhat Vu +2
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy s…
FlowMP: Learning Motion Fields for Robot Planning with Conditional Flow Matching
Khang Nguyen, An T. Le, Tien Pham +3
Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capt…