We take a new look at the relation between finite-horizon trajectory optimization and Schr\"odinger bridge sampling. Viewed as inference, KL-regularized trajectory optimization is solved by sampling from a Gibbs--Boltzmann distribution whose energy is the trajectory cost, and the adjoint Schr\"odinger bridge sampler (A...
RoboFolDeX is introduced, a physical-world benchmark built entirely from real-robot data, with garment folding as its primary task, and a fair real-robot evaluation platform for externally submitted policies, with standardized tasks, held-out physical objects, controlled initializations, and a unified execution protoco...
Elastic Horizon is introduced, a closed-loop controller that tracks a dynamic boundary beyond which additional interactions yield diminishing returns while cost grows linearly and stabilizes the horizon inside the saturation band from both under- and over-capacity initializations.
Gang-Yi Zhang, Jun-Jie Meng, Le-Tian Zhang et al.· 0 citations
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