6 papers
Large Video Planner Enables Generalizable Robot Control
Boyuan Chen, Tianyuan Zhang, Haoran Geng +9
General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal larg…
Generative View Stitching
Chonghyuk Song, Michal Stary, Boyuan Chen +2
Autoregressive video diffusion models are capable of long rollouts that are stable and consistent with history, but they are unable to guide the current generation with conditionin…
Selective Underfitting in Diffusion Models
Kiwhan Song, Jaeyeon Kim, Sitan Chen +3
Diffusion models have emerged as the principal paradigm for generative modeling across various domains. During training, they learn the score function, which in turn is used to gen…
Controlling diverse robots by inferring Jacobian fields with deep networks
Sizhe Lester Li, Annan Zhang, Boyuan Chen +4
Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasib…
History-Guided Video Diffusion
Kiwhan Song, Boyuan Chen, Max Simchowitz +3
Classifier-free guidance (CFG) is a key technique for improving conditional generation in diffusion models, enabling more accurate control while enhancing sample quality. It is nat…
DittoGym: Learning to Control Soft Shape-Shifting Robots
Suning Huang, Boyuan Chen, Huazhe Xu +1
Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise f…