A hybrid RL and model-based null-space controller with conditional diffusion sampling for initial poses extends average straight-line path length by 27% over baseline on 10,000 tasks with a 7-DoF Franka arm.
Ikdiffuser: a diffusion-based generative inverse kine- matics solver for kinematic trees.arXiv preprint arXiv:2506.13087, 2025
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JoyAI-Sim provides bidirectional Robot-Simulation-Human pathways for aligned model evaluation and data generation in robotics using the JoySim simulator as an evaluation layer and physical consistency filter.
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Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following
A hybrid RL and model-based null-space controller with conditional diffusion sampling for initial poses extends average straight-line path length by 27% over baseline on 10,000 tasks with a 7-DoF Franka arm.
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JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
JoyAI-Sim provides bidirectional Robot-Simulation-Human pathways for aligned model evaluation and data generation in robotics using the JoySim simulator as an evaluation layer and physical consistency filter.