Author

Changliu Liu

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Preprint Sep 2026

ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation

Adapting visuomotor policies to new manipulation tasks often requires substantial manual engineering or teleoperated data collection. Simulation can provide task-specific data at scale, but constructing the scene, designing expert behavior, and configuring data generation still require significant per-task effort. We p...

Bo-Wei Li, Yun-Er Zhang, Chang-Liu Liu · 0 citations

Jul 2026

Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling

This work introduces Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling (MD-COAS) for SRMP that unifies the inexact Augmented Lagrangian Method (iALM) soft diffusion prior with a Convex Feasible Set (CFS)-based hard projection operator, and adaptively schedules and co-optimizes safety enforcement...

Zhilin He, Bowei Li, Jianlin Dou et al. · arXiv.org · 1 citation