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cs.RO2025
Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution
Zhanyi Sun, Shuran Song
Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to…
cs.RO2025
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du, Shuran Song
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, req…
cs.RO2025
A Practical Guide for Incorporating Symmetry in Diffusion Policy
Dian Wang, Boce Hu, Shuran Song +2
Recently, equivariant neural networks for policy learning have shown promising improvements in sample efficiency and generalization, however, their wide adoption faces substantial…