3 papers indexed
Chaoqi Liu, Yue Zhao, Haonan Chen, Xiaoshen Han, Jiawei Gao, Ehsan Adeli, et al.
Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface for modern visuomotor policies. Existing approaches either rely on analytical discretization methods that produce prohibitively long token sequences or learned latent…
Xiaoshen Han, Haoyu Xiong, Haonan Chen, Chaoqi Liu, Antonio Torralba, Yuke Zhu, et al.
In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks, BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points…
Zhiyi Li, Peilin Wu, Xiaoshen Han, Ruojin Cai, Yilun Du
Video predictive models are emerging as a powerful paradigm in robotics, offering a promising path toward task generalization, long-horizon planning, and flexible decision-making. However, prevailing approaches often operate on 2D video sequences, inherently lacking the 3D geomet…