DVAC uses denoising variance as an intrinsic signal to adaptively chunk actions in flow-based robot policies, improving success rates and cutting replans on LIBERO, RoboTwin, CALVIN, and real-world tasks.
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Characterizations of stable and weakly stable minimal capillary surfaces with near-extreme capillary angles are given on minimal or positive-mean-curvature supports, using curvature estimates to analyze tangential limits.
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Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies
DVAC uses denoising variance as an intrinsic signal to adaptively chunk actions in flow-based robot policies, improving success rates and cutting replans on LIBERO, RoboTwin, CALVIN, and real-world tasks.
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Tangential limits of stable minimal capillary surfaces
Characterizations of stable and weakly stable minimal capillary surfaces with near-extreme capillary angles are given on minimal or positive-mean-curvature supports, using curvature estimates to analyze tangential limits.