Author

Yan-Jie Liu

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#diffusion models Nov 2026

ST-Policy: Encoding Spatiotemporal Continuity for Diffusion Policy

Diffusion-based visuomotor policies are a powerful paradigm for robotic imitation learning, yet their sequence models apply a uniform inductive bias at every position of the action sequence, ignoring the spatiotemporal continuity inherent in robotic motion. We identify a fundamental limitation of causal state space mod...

Ying-Zhao Li, Liang Zheng, Wu-Jie Chen et al. · IEEE Robotics and Automation... · 0 citations

Oct 2026

Differentiable End-to-End UAV Navigation Using Time-of-Arrival Fields and Control Barrier Functions

Quadrotor UAVs are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. Traditional modular pipelines suffer from cumulative latency, motivating a shift toward end-to-end learning-based methods. However, this paradigm still faces two fundamental challenges....

Yan-Jie Liu, Teng-Da Yang, Zi-Han Li et al. · IEEE Robotics and Automation... · 1 citation