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Haofei Lu

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5 papers

2 author rows

ICLR Conference 2025 Conference Paper

BodyGen: Advancing Towards Efficient Embodiment Co-Design

Haofei Lu
Zhe Wu
Junliang Xing
Jianshu Li
Ruoyu Li
Zhe Li
Yuanchun Shi

Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of morphological search spaces and (ii) intricate dependencies between morphology and control. We prove that the ineffective morphology representation and unbalanced reward signals between the design and control stages are key obstacles to efficiency. To advance towards efficient embodiment co-design, we propose **BodyGen**, which utilizes (1) topology-aware self-attention for both design and control, enabling efficient morphology representation with lightweight model sizes; (2) a temporal credit assignment mechanism that ensures balanced reward signals for optimization. With our findings, BodyGen achieves an average **60.03%** performance improvement against state-of-the-art baselines. We provide codes and more results on the website: https://genesisorigin.github.io.

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ICML Conference 2025 Conference Paper

Habitizing Diffusion Planning for Efficient and Effective Decision Making

Haofei Lu
Yifei Shen 0004
Dongsheng Li 0002
Junliang Xing
Dongqi Han

Diffusion models have shown great promise in decision-making, also known as diffusion planning. However, the slow inference speeds limit their potential for broader real-world applications. Here, we introduce Habi, a general framework that transforms powerful but slow diffusion planning models into fast decision-making models, which mimics the cognitive process in the brain that costly goal-directed behavior gradually transitions to efficient habitual behavior with repetitive practice. Even using a laptop CPU, the habitized model can achieve an average 800+ Hz decision-making frequency (faster than previous diffusion planners by orders of magnitude) on standard offline reinforcement learning benchmarks D4RL, while maintaining comparable or even higher performance compared to its corresponding diffusion planner. Our work proposes a fresh perspective of leveraging powerful diffusion models for real-world decision-making tasks. We also provide robust evaluations and analysis, offering insights from both biological and engineering perspectives for efficient and effective decision-making.

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ICLR Conference 2025 Conference Paper

What Makes a Good Diffusion Planner for Decision Making?

Haofei Lu
Dongqi Han
Yifei Shen 0004
Dongsheng Li 0002

Diffusion models have recently shown significant potential in solving decision-making problems, particularly in generating behavior plans -- also known as diffusion planning. While numerous studies have demonstrated the impressive performance of diffusion planning, the mechanisms behind the key components of a good diffusion planner remain unclear and the design choices are highly inconsistent in existing studies. In this work, we address this issue through systematic empirical experiments on diffusion planning in an offline reinforcement learning (RL) setting, providing practical insights into the essential components of diffusion planning. We trained and evaluated over 6,000 diffusion models, identifying the critical components such as guided sampling, network architecture, action generation and planning strategy. We revealed that some design choices opposite to the common practice in previous work in diffusion planning actually lead to better performance, e.g., unconditional sampling with selection can be better than guided sampling and Transformer outperforms U-Net as denoising network. Based on these insights, we suggest a simple yet strong diffusion planning baseline that achieves state-of-the-art results on standard offline RL benchmarks. Code: https://github.com/Josh00-Lu/DiffusionVeteran.

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ICLR Conference 2024 Conference Paper

PAE: Reinforcement Learning from External Knowledge for Efficient Exploration

Zhe Wu
Haofei Lu
Junliang Xing
You Wu
Renye Yan
Yaozhong Gan
Yuanchun Shi

Human intelligence is adept at absorbing valuable insights from external knowledge. This capability is equally crucial for artificial intelligence. In contrast, classical reinforcement learning agents lack such capabilities and often resort to extensive trial and error to explore the environment. This paper introduces $\textbf{PAE}$: $\textbf{P}$lanner-$\textbf{A}$ctor-$\textbf{E}$valuator, a novel framework for teaching agents to $\textit{learn to absorb external knowledge}$. PAE integrates the Planner's knowledge-state alignment mechanism, the Actor's mutual information skill control, and the Evaluator's adaptive intrinsic exploration reward to achieve 1) effective cross-modal information fusion, 2) enhanced linkage between knowledge and state, and 3) hierarchical mastery of complex tasks. Comprehensive experiments across 11 challenging tasks from the BabyAI and MiniHack environment suites demonstrate PAE's superior exploration efficiency with good interpretability.

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IJCAI Conference 2022 Conference Paper

Universal Video Style Transfer via Crystallization, Separation, and Blending

Haofei Lu
Zhizhong Wang

Universal video style transfer aims to migrate arbitrary styles to input videos. However, how to maintain the temporal consistency of videos while achieving high-quality arbitrary style transfer is still a hard nut to crack. To resolve this dilemma, in this paper, we propose the CSBNet which involves three key modules: 1) the Crystallization (Cr) Module that generates several orthogonal crystal nuclei, representing hierarchical stability-aware content and style components, from raw VGG features; 2) the Separation (Sp) Module that separates these crystal nuclei to generate the stability-enhanced content and style features; 3) the Blending (Bd) Module to cross-blend these stability-enhanced content and style features, producing more stable and higher-quality stylized videos. Moreover, we also introduce a new pair of component enhancement losses to improve network performance. Extensive qualitative and quantitative experiments are conducted to demonstrate the effectiveness and superiority of our CSBNet. Compared with the state-of-the-art models, it not only produces temporally more consistent and stable results for arbitrary videos but also achieves higher-quality stylizations for arbitrary images.

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