3 papers
cs.RO2025
Self-Guided Action Diffusion
Rhea Malhotra, Yuejiang Liu, Chelsea Finn
Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidire…
cs.RO2025
Learning Long-Context Diffusion Policies via Past-Token Prediction
Marcel Torne, Andy Tang, Yuejiang Liu +1
Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging…
cs.RO2025
Curating Demonstrations using Online Experience
Annie S. Chen, Alec M. Lessing, Yuejiang Liu +1
Many robot demonstration datasets contain heterogeneous demonstrations of varying quality. This heterogeneity may benefit policy pre-training, but can hinder robot performance when…