3 papers
cs.RO2026
Linear Recurrent Memory Suffices to Distil a World-Model Policy for Robot Air Hockey
F. Olivia Fan, Oliver Obst
Does memory-dependent control need nonlinear recurrent dynamics? We study simulated air-hockey defence under temporary loss of puck tracking. A DreamerV3 teacher outperforms a memo…
cs.RO2025
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
Xiatao Sun, Shuo Yang, Yinxing Chen +3
Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large numb…
cs.RO2024
Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policy
Xiatao Sun, Francis Fan, Yinxing Chen +1
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where…