Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
Function-Space Diffusion for Motion Planning
Zinuo Chang, Yipu Chen, Byoungwoo Park +2
Diffusion-based motion planners have demonstrated strong performance in generating diverse and high-quality robot trajectories in cluttered environments with multiple feasible solu…
cs.RO2026
VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation
Zhigen Zhao, Mark Leggiero, Yipu Chen +5
Multi-task robot manipulation policies are challenging to learn from demonstration because traditionally a single network must select among qualitatively different action modes fro…
cs.RO2026
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, Yipu Chen, Zimeng Chai +11
Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon…