Tian-Yu Yang

X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nominal robot. This limits the policy's generalization to diverse embodiments and challenging scenarios (e.g., escaping dead ends or detouring lon...