4 papers · 1 filter
Safe Streaming Flow Planning by Aligning Sampling Dynamics with Execution Dynamics
Seunghwan Jang, Jeongyong Yang, Siddharth Ancha +1
Generative planners based on diffusion/flow matching can learn to synthesize long-horizon trajectories from demonstrations. However, real-world deployment requires (i) enforcing sa…
SymVD: Symmetric Vision Language Action Distillation for Robot Manipulation
Hyewon Choi, Donggyu Kim, Soojean Han
While pretrained Vision-Language-Action (VLA) models offer broad generalization capabilities in robotic manipulation tasks, adapting them to real-world environments or handling tas…
Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning
Nakgyu Yang, KwangBin Lee, SooJean Han
Many diffusion-based planners enforce safety through inference-time guidance, but such interleaved trajectory deformations often degrade kinematic feasibility due to manifold ruptu…
Systematic Hazard Sampling: Minimal-Variance Inference for Discrete Diffusion and Flow Models
Seunghwan Jang, SooJean Han, Wonje Jeung
Uniform-noise discrete diffusion and flow models generate sequences non-autoregressively through iterative, context-dependent token replacements. However, these models are typicall…