3 papers
cs.RO2026
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…
cs.RO2025
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition
Jiahang Cao, Qiang Zhang, Hanzhong Guo +3
Diffusion Policy (DP) has attracted significant attention as an effective method for policy representation due to its capacity to model multi-distribution dynamics. However, curren…
cs.NE2024
Spiking Diffusion Models
Jiahang Cao, Hanzhong Guo, Ziqing Wang +4
Recent years have witnessed Spiking Neural Networks (SNNs) gaining attention for their ultra-low energy consumption and high biological plausibility compared with traditional Artif…