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Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal action distributions offers rich opportunities for exploration in reinforcement learning (RL). However, optimizing diffusion policies with RL c...
Experiments show that FACT improves geometric reconstruction over baselines, enables more reliable interaction with simpler collision proxies, and better reproduces held-out physical responses than direct parameter inference.
PASSAGE, a perception-conditioned planner--tracker framework for humanoid traversal, using virtual reality and inertial motion capture to collect 100 h of scene-aligned human motion across 1,500 cluttered scenes and tests across 50 unseen physical layouts demonstrate traversal without prebuilt maps or offboard computat...
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