3 papers
cs.LG2026
Diffusion Policy through Conditional Proximal Policy Optimization
Ben Liu, Shunpeng Yang, Hua Chen
Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong po…
cs.RO2025
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics
Ben Liu, Tzu-Yuan Lin, Wei Zhang +1
This paper develops a deep learning approach to the online debiasing of IMU gyroscopes and accelerometers. Most existing methods rely on implicitly learning a bias term to compensa…
cs.RO2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu, Sangli Teng, Ben Liu +2
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on pr…