3 papers
cs.RO2026
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
Haidong Huang, Xixin Zhao, Yaohua Zhou +5
Diffusion models excel at capturing multi-modal action distributions in robot imitation learning. However, in multi-task and long-horizon scenarios, monolithic architectures lack s…
cs.AI2026
VASR: Variance-Aware Systematic Resampling for Reward-Guided Diffusion
Shivanshu Shekhar, Sagnik Mukherjee, Jia Yi Zhang +1
Sequential Monte Carlo (SMC) samplers for reward-guided diffusion models often suffer from rapid lineage collapse: a few high-reward particles dominate the population within a hand…
cs.AI2026
InfoPO: Information-Driven Policy Optimization for User-Centric Agents
Fanqi Kong, Jiayi Zhang, Mingyi Deng +3
Real-world user requests to LLM agents are often underspecified. Agents must interact to acquire missing information and make correct downstream decisions. However, current multi-t…