5 papers · 1 filter
CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance
Shutong Ding, Zhaoyang Liu, Yimiao Zhou +3
Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal act…
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
Yixin Zhu, Zixiong Wang, Jian Yang +4
Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task ca…
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…
ExFace: Expressive Facial Control for Humanoid Robots with Diffusion Transformers and Bootstrap Training
Dong Zhang, Jingwei Peng, Yuyang Jiao +3
This paper presents a novel Expressive Facial Control (ExFace) method based on Diffusion Transformers, which achieves precise mapping from human facial blendshapes to bionic robot…
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Shijie Wu, Yihang Zhu, Yunao Huang +5
Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance gene…