SCRIPT presents a scalable diffusion policy with JAST-DiT architecture, nonlinear history conditioning, and RLHR post-training that claims to outperform prior methods on text alignment, motion quality, and physical realism while scaling on a 1200-hour dataset.
International conference on machine learning , pages=
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Recurrent Transformers add per-layer recurrent memory via self-attention on own activations plus a tiling algorithm that reduces training memory traffic, yielding better C4 pretraining cross-entropy than parameter-matched standard transformers with fewer layers.
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SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control
SCRIPT presents a scalable diffusion policy with JAST-DiT architecture, nonlinear history conditioning, and RLHR post-training that claims to outperform prior methods on text alignment, motion quality, and physical realism while scaling on a 1200-hour dataset.
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The Recurrent Transformer: Greater Effective Depth and Efficient Decoding
Recurrent Transformers add per-layer recurrent memory via self-attention on own activations plus a tiling algorithm that reduces training memory traffic, yielding better C4 pretraining cross-entropy than parameter-matched standard transformers with fewer layers.