Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
Uniform manifold approximation and projection
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TinyUSFM distills a large ultrasound foundation model into a lightweight version using feature-gradient coreset selection and domain-separated masked image modeling, matching performance on a new 18-dataset benchmark with 6.36% of the parameters.
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Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
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TinyUSFM: Towards Compact and Efficient Ultrasound Foundation Models
TinyUSFM distills a large ultrasound foundation model into a lightweight version using feature-gradient coreset selection and domain-separated masked image modeling, matching performance on a new 18-dataset benchmark with 6.36% of the parameters.