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cs.RO2025
Constrained Style Learning from Imperfect Demonstrations under Task Optimality
Kehan Wen, Chenhao Li, Junzhe He +1
Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining…
cs.RO2025
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
Yutong Hu, Pinhao Song, Kehan Wen +1
We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from…