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cs.RO2025
PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
Haozhuo Zhang, Michele Caprio, Jing Shao +4
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations int…
cs.RO2025
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
Haozhuo Zhang, Jingkai Sun, Michele Caprio +5
Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with high physical realism. Almost always, though, this happens in short, isolat…
cs.RO2024
FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model
Chongkai Gao, Haozhuo Zhang, Zhixuan Xu +2
We aim to develop a model-based planning framework for world models that can be scaled with increasing model and data budgets for general-purpose manipulation tasks with only langu…