GLENS uses diffusion models on solver iterates to generate high-quality and diverse initial guesses for multimodal non-convex optimization, leading to faster solver convergence.
Canonical reference
Can vehicle motion planning generalize to realistic long-tail scenarios? In2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5388–5395, 2024
Canonical reference. 73% of citing Pith papers cite this work as background.
58
Pith papers citing it
Background
73% of classified citations
citation-role summary
background 12
method 2
other 1
citation-polarity summary
representative citing papers
MemPoison enables stealthy memory poisoning in LLM agents via dialogue by using semantic relational bridges, entity masquerading, and joint embedding optimization to bypass selective extraction and rewriting, achieving up to 0.95 attack success rate.
MDrive benchmark shows multi-agent cooperative driving systems generally outperform single-agent ones in closed-loop settings but perception sharing does not always improve planning and negotiation can harm performance in complex traffic.
BehaviorBench reveals that self-play RL policies for autonomous driving overfit to their training traffic agents and do not generalize to other behaviors, motivating a hybrid rule-based plus learned planner.
The virtual object MPC framework enables stable shared teleoperation for transporting up to nine objects, cutting sliding distance by 72.45% and eliminating tip-overs compared to baseline.
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
Zeta* and Zeta*-SIPP use elliptical expansion and improved visibility to deliver optimal any-angle paths on grids, with Zeta*-SIPP over 20x faster than prior dynamic planners.
X-Morph retargets human motions to kinematically plausible references for multiple legged morphologies, trains privileged RL trackers, and distills them into deployable policies that generalize and enable teleoperation and text-conditioned generation.
ReGuide is a self-improving framework that uses phase-conditioned guidance to generate corrective rollouts and absorbs successful ones back into diffusion policy training, yielding 1.3-7.7x success gains on Robomimic tasks.
The paper fine-tunes Qwen3.5-4B as a driving VLA using serialized decision traces from rule-based planners, reporting reduced ADE and miss rate on a simulator benchmark with camera inputs.
LAFM adapts the source distribution in flow matching policies via a latent action model to better match fragmented robotic action spaces, claiming 23.4% higher real-world success and 10.4% on LIBERO-90 while beating larger pre-trained models.
HilDA pre-trains LiDAR backbones via multi-layer and global distillation from vision models plus temporal occupancy diffusion, yielding SOTA results on detection, flow, and occupancy tasks.
A VLA policy using view-selective visual routing and interaction-aware action MoE improves average success by 27.7% in simulation and 43.3% in real-world bimanual tasks over monolithic baselines.
SpaceVLN proposes a stagewise closed-loop framework using Spatial Cognitive Memory and Spatial-CoT for zero-shot vision-and-language navigation and object-goal navigation, reporting SOTA results on R2R-CE, RxR-CE, GN-Bench, and HM3D-OVON plus real-robot tests.
RGB-S projects tactile contacts onto images as force-modulated Gaussian saliency maps via kinematics and zero-initialized conditioning, raising real-world occluded dexterous manipulation success by 26.7 percentage points over implicit baselines.
Perceptive BFM grounds human motion priors in robot terrain perception via terrain-conformal reference synthesis and teacher-student transfer from adapted to raw-reference tracking.
HORIZON is a recoverability-governed checkpointed frontier curriculum for on-policy physical-domain scaling on quadruped locomotion that identifies three regularities: uneven widening, non-monotonic composition, and the necessity of joint on-policy interaction.
AFUN predicts task-conditional functional masks and 3D post-contact motion curves from RGB-D and language, trained via a standardized multi-source data pipeline, and reports large gains over baselines on segmentation, contact prediction, and motion tasks.
POIROT protocol repurposes agents in LLM multi-agent systems as an internal diagnostic layer for failure detection, outperforming single-LLM evaluators with gains that increase with complexity, agent count, and fault types.
Per-Frame Deep Sets enables scaling single-sphere to five-sphere transport on a quadruped by performing permutation-invariant pooling within each history frame, reaching 100% no-drop success in simulation where standard encoders plateau.
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
Combines LTL formal methods with LLMs for auditing, predictive monitoring, and runtime intervention on temporally extended behavioral constraints, outperforming LLM baselines and reducing violations.
MAVIC corrects Bellman backups at instruction boundaries by adjusting the incoming objective and restoring continuation value, enabling consistent estimation under stochastic instruction switching in cooperative MARL.
On a fully actuated hexarotor, sensor-based INDI outperforms model-based geometric NDI under mismatches, gusts, and sensor degradation with lower position errors, but NDI tracks attitude better at reduced control rates, providing the first experimental full-pose INDI validation with decoupled axes.
citing papers explorer
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Large Video Planner Enables Generalizable Robot Control
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
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SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Data
SynFlow creates a 34-times larger synthetic LiDAR scene flow dataset that lets models trained only on simulation match or beat supervised real-data baselines on multiple benchmarks.
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A Multi-View 3D Telepresence System for XR Robot Teleoperation
A multi-view point cloud VR system with wrist RGB detail outperforms RGB streams and stereo views in robot teleoperation tasks per a 31-participant user study.
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From Fold to Function: Simulation-Driven Design of Origami Mechanisms
A simulation framework using MuJoCo deformable bodies and CMA-ES optimization enables rapid design and experimental validation of origami mechanisms like an improved catapult.