3 papers
cs.RO2025
Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference
Haoran Ding, Anqing Duan, Zezhou Sun +2
Visual observations from different viewpoints can significantly influence the performance of visuomotor policies in robotic manipulation. Among these, egocentric (in-hand) views of…
cs.RO2025
Towards Safe Imitation Learning via Potential Field-Guided Flow Matching
Haoran Ding, Anqing Duan, Zezhou Sun +4
Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However,…
cs.RO2024
Fast and Robust Visuomotor Riemannian Flow Matching Policy
Haoran Ding, Noémie Jaquier, Jan Peters +1
Diffusion-based visuomotor policies excel at learning complex robotic tasks by effectively combining visual data with high-dimensional, multi-modal action distributions. However, d…