4 papers
Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
Zhikai Zhang, Haofei Lu, Yunrui Lian +12
Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors…
What Makes a Good Diffusion Planner for Decision Making?
Haofei Lu, Dongqi Han, Yifei Shen +1
Diffusion models have recently shown significant potential in solving decision-making problems, particularly in generating behavior plans -- also known as diffusion planning. While…
BodyGen: Advancing Towards Efficient Embodiment Co-Design
Haofei Lu, Zhe Wu, Junliang Xing +4
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive ro…
Habitizing Diffusion Planning for Efficient and Effective Decision Making
Haofei Lu, Yifei Shen, Dongsheng Li +2
Diffusion models have shown great promise in decision-making, also known as diffusion planning. However, the slow inference speeds limit their potential for broader real-world appl…