2 papers
cs.RO2025
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
Ce Hao, Anxing Xiao, Zhiwei Xue +1
Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings. We trace the failure to loose coupling between high-…
cs.RO2025
DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting
Ce Hao, Kelvin Lin, Zhiwei Xue +2
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, gen…