arXiv:2604.20348v2 Announce Type: replace-cross Abstract: Language Models (LLMs) have emerged as powerful reasoning engines for embodied control. In particular, In-Context Learning (ICL) enables off-the-shelf, text-only LLMs to predict robot actions without any task-specific trai…
arXiv cs.AI
TIER_1English(EN)·Adam Wei, Nicholas Pfaff, Thomas Cohn, Arif Kerem Day{\i}, Constantinos Daskalakis, Giannis Daras, Russ Tedrake·
arXiv:2606.12365v1 Announce Type: cross Abstract: We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datas…
WEAVER is a multi-view world model architecture that achieves high fidelity, consistency, and efficiency in robotic manipulation tasks through flow-matching loss and demonstrates superior performance in policy evaluation, improvement, and test-time planning.
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datasets with lower-quality or out-of-distribution demo…
We propose Ambient Diffusion Policy, a simple and principled method for imitation learning from suboptimal data in robotics. High-quality, task-specific robot data is expensive and time-consuming to collect, while suboptimal datasets with lower-quality or out-of-distribution demo…
arXiv cs.LG
TIER_1English(EN)·Sriram Krishna, Ben Eisner, Haotian Zhan, Ying Yuan, Haoyu Zhen, Chuang Gan, Shubham Tulsiani, David Held·
arXiv:2606.10025v1 Announce Type: cross Abstract: We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training distribution. GHOST factorizes control into (i) a high-level policy that predicts the next sub-goal as a distribution …
arXiv:2606.08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting velocity field must simultaneously encode scene i…
arXiv:2606.08414v1 Announce Type: cross Abstract: Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing approaches impose safety either prematurely during trai…
arXiv:2606.08775v1 Announce Type: cross Abstract: Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC) frameworks to solve various control tasks.…
Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing approaches impose safety either prematurely during training or reactively via external guardrails at test…
arXiv cs.AI
TIER_1English(EN)·Dabin Kim, Daemin Park, Sangyub Lee, Jinsik Kim, Yeongtak Oh, Jongho Shin, Sungroh Yoon·
arXiv:2606.05660v1 Announce Type: cross Abstract: Embodied AI systems are increasingly expected to reason and act over extended horizons in physical environments. This growing capability brings safety to the foreground, because failures in the physical world can harm people, dama…
arXiv:2512.06628v3 Announce Type: replace-cross Abstract: Scalable embodied intelligence is constrained by the scarcity of diverse, long-horizon robotic manipulation data. Existing video world models in this domain are limited to synthesizing short clips of simple actions and oft…
