4 accepted papers
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng…
Topological mapping offers a compact and robust representation for navigation, but progress in the field is hindered by the lack of standardized evaluation metrics, datasets, and protocols. Existing systems are evaluated in different environments under different criteria, preventing fair and reprodu…
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-level (HL) sub-goal selection and low-level (LL) trajectory generation, which leads to incoherent plans and degraded per…
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng