CreFlow combines LTL compositional rewards with credit-aware NFT and corrective reflow losses in online RL to improve embodied video diffusion models, raising downstream task success by 23.8 percentage points on eight bimanual manipulation tasks.
Embodied agent interface: Benchmarking llms for embodied decision making.Advances in Neural Information Processing Systems, 37: 100428–100534, 2024
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TaskGround introduces a Ground-Infer-Execute framework for full-scene household reasoning that improves success rates on the FullHome benchmark and enables compact models to match larger ones at up to 18x lower token cost.
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CreFlow: Corrective Reflow for Sparse-Reward Embodied Video Diffusion RL
CreFlow combines LTL compositional rewards with credit-aware NFT and corrective reflow losses in online RL to improve embodied video diffusion models, raising downstream task success by 23.8 percentage points on eight bimanual manipulation tasks.
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TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning
TaskGround introduces a Ground-Infer-Execute framework for full-scene household reasoning that improves success rates on the FullHome benchmark and enables compact models to match larger ones at up to 18x lower token cost.