Related papers: EDGI: Equivariant Diffusion for Planning with Embo…

Rich data and powerful machine learning models allow us to design drugs for a specific protein target \textit{in silico}. Recently, the inclusion of 3D structures during targeted drug design shows superior performance to other target-free…

Generative models have shown strong generation ability while efficient likelihood estimation is less explored. Energy-based models~(EBMs) define a flexible energy function to parameterize unnormalized densities efficiently but are notorious…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Diffusion models have been successfully applied to robotics problems such as manipulation and vehicle path planning. In this work, we explore their application to end-to-end navigation -- including both perception and planning -- by…

Diffusion models have shown promising capabilities in trajectory generation for planning in offline reinforcement learning (RL). However, conventional diffusion-based planning methods often fail to account for the fact that generating…

While many unsupervised learning models focus on one family of tasks, either generative or discriminative, we explore the possibility of a unified representation learner: a model which uses a single pre-training stage to address both…

Convolutional networks are successful, but they have recently been outperformed by new neural networks that are equivariant under rotations and translations. These new networks work better because they do not struggle with learning each…

Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. However, these approaches often suffer from high computational…

Recent methods for molecular generation face a trade-off: they either enforce strict equivariance with costly architectures or relax it to gain scalability and flexibility. We propose a frame-based diffusion paradigm that achieves…

Contrastive Reinforcement Learning (CRL) provides a promising framework for extracting useful structured representations from unlabeled interactions. By pulling together state-action pairs and their corresponding future states, while…

Diffusion-based generative models (DBGMs) perturb data to a target noise distribution and reverse this process to generate samples. The choice of noising process, or inference diffusion process, affects both likelihoods and sample quality.…

In recent years, Large Language Models (LLMs) have demonstrated remarkable capabilities in understanding and solving mathematical problems, leading to advancements in various fields. We propose an LLM-embodied path planning framework for…

We introduce Efficient Motion Diffusion Model (EMDM) for fast and high-quality human motion generation. Current state-of-the-art generative diffusion models have produced impressive results but struggle to achieve fast generation without…

Embodied agents have shown promising generalization capabilities across diverse physical environments, making them essential for a wide range of real-world applications. However, building versatile embodied agents poses critical challenges…

Accurately modeling agent behaviors is an important task in self-driving. It is also a task with many symmetries, such as equivariance to the order of agents and objects in the scene or equivariance to arbitrary roto-translations of the…

Urban environments, characterized by their complex, multi-layered networks encompassing physical, social, economic, and environmental dimensions, face significant challenges in the face of rapid urbanization. These challenges, ranging from…

Classical paradigms for distributed learning, such as federated or decentralized gradient descent, employ consensus mechanisms to enforce homogeneity among agents. While these strategies have proven effective in i.i.d. scenarios, they can…

Recent advances in embodied AI highlight the potential of vision language models (VLMs) as agents capable of perception, reasoning, and interaction in complex environments. However, top-performing systems rely on large-scale models that are…

Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…