Multimodal Diffusion Forcing trains a diffusion model on partially masked multimodal robot trajectories to learn temporal and cross-modal dependencies for forceful manipulation.
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The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.
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Multimodal Diffusion Forcing for Forceful Manipulation
Multimodal Diffusion Forcing trains a diffusion model on partially masked multimodal robot trajectories to learn temporal and cross-modal dependencies for forceful manipulation.
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Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
The Weightlessness Mechanism lets humanoid robots imitate non-self-stabilizing motions by dynamically relaxing specific joints to exploit passive environmental contacts, generalizing from single demonstrations to varied setups.