12 papers
Diffusion Bridge or Flow Matching? A Unifying Framework and Comparative Analysis
Kaizhen Zhu, Mokai Pan, Zhechuan Yu +3
Diffusion Bridge and Flow Matching have both demonstrated compelling empirical performance in transformation between arbitrary distributions. However, there remains confusion about…
DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
Yahao Fan, Tianxiang Gui, Kaiyang Ji +8
Achieving versatile humanoid locomotion with a single policy presents a critical scalability challenge. Prevailing methods often rely on distilling multiple terrain-specific teache…
Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
Zhirui Liu, Kaiyang Ji, Ke Yang +4
Enabling humanoid robots to follow free-form natural language commands is a critical step toward seamless human-robot interaction and general-purpose embodied AI. However, existing…
Gaze-guided Hand-Object Interaction Synthesis: Dataset and Method
Jie Tian, Ran Ji, Lingxiao Yang +6
Gaze plays a crucial role in revealing human attention and intention, particularly in hand-object interaction scenarios, where it guides and synchronizes complex tasks that require…
NLPrompt: Noise-Label Prompt Learning for Vision-Language Models
Bikang Pan, Qun Li, Xiaoying Tang +6
The emergence of vision-language foundation models, such as CLIP, has revolutionized image-text representation, enabling a broad range of applications via prompt learning. Despite…
A Unified and Fast-Sampling Diffusion Bridge Framework via Stochastic Optimal Control
Mokai Pan, Kaizhen Zhu, Yuexin Ma +4
Recent advances in diffusion bridge models leverage Doob's -transform to establish fixed endpoints between distributions, demonstrating promising results in image translation an…