5 papers
DF: World Modeling via Decoder-Free Feature Forecasting in Autonomous Navigation
Jiaming Chen, Guoan Xu, Aoshen Huang +3
Forecasting future states from video sequences is a critical challenge for autonomous robotic systems and a fundamental objective of world modeling. Prior generative methods operat…
LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenes
Haozhuo Zhang, Jingkai Sun, Michele Caprio +5
Physics-based human motion control can make a simulated character walk, sit, and manipulate objects with high physical realism. Almost always, though, this happens in short, isolat…
PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
Haozhuo Zhang, Michele Caprio, Jing Shao +4
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations int…
FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model
Chongkai Gao, Haozhuo Zhang, Zhixuan Xu +2
We aim to develop a model-based planning framework for world models that can be scaled with increasing model and data budgets for general-purpose manipulation tasks with only langu…
Hand1000: Generating Realistic Hands from Text with Only 1,000 Images
Haozhuo Zhang, Bin Zhu, Yu Cao +1
Text-to-image generation models have achieved remarkable advancements in recent years, aiming to produce realistic images from textual descriptions. However, these models often str…