5 papers
Refining Compositional Diffusion for Reliable Long-Horizon Planning
Kyowoon Lee, Yunhao Luo, Anh Tong +1
Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan di…
Compositional Visual Planning via Inference-Time Diffusion Scaling
Yixin Zhang, Yunhao Luo, Utkarsh Aashu Mishra +3
Diffusion models excel at short-horizon robot planning, yet scaling them to long-horizon tasks remains challenging due to computational constraints and limited training data. Exist…
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Wule Mao, Zhouheng Li, Yunhao Luo +3
Achieving safe, efficient, and kinematically feasible planning in dynamic environments remains a significant challenge, as planners must simultaneously handle moving obstacles, sen…
Generative Trajectory Stitching through Diffusion Composition
Yunhao Luo, Utkarsh A. Mishra, Yilun Du +1
Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limi…
Grounding Video Models to Actions through Goal Conditioned Exploration
Yunhao Luo, Yilun Du
Large video models, pretrained on massive amounts of Internet video, provide a rich source of physical knowledge about the dynamics and motions of objects and tasks. However, video…