EgoForce reconstructs long-horizon full-body motion online from sparse noisy egocentric views by incrementally denoising with a temporally asymmetric diffusion schedule and noise-robust imputation.
arXiv preprint arXiv:2311.17135 (2023) 3
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GRAIL creates over 20,000 synthetic loco-manipulation sequences from known 3D configurations and video priors, then trains policies that achieve 84% pick-up and 90% stair-climbing success on a real Unitree G1 humanoid using only the generated data.
A latent-noise navigation policy trained with RL steers a frozen diffusion character-control prior, achieving fast and robust task execution without test-time guidance.
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EgoForce: Robust Online Egocentric Motion Reconstruction via Diffusion Forcing
EgoForce reconstructs long-horizon full-body motion online from sparse noisy egocentric views by incrementally denoising with a temporally asymmetric diffusion schedule and noise-robust imputation.
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GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
GRAIL creates over 20,000 synthetic loco-manipulation sequences from known 3D configurations and video priors, then trains policies that achieve 84% pick-up and 90% stair-climbing success on a real Unitree G1 humanoid using only the generated data.
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NaP-Control: Navigating Diffusion Prior for Versatile and Fast Character Control
A latent-noise navigation policy trained with RL steers a frozen diffusion character-control prior, achieving fast and robust task execution without test-time guidance.