Related papers: ALDM-Grasping: Diffusion-aided Zero-Shot Sim-to-Re…
Grasp synthesis is a fundamental task in robotic manipulation which usually has multiple feasible solutions. Multimodal grasp synthesis seeks to generate diverse sets of stable grasps conditioned on object geometry, making the robust…
3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…
End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…
Recent studies have shown the great potential of diffusion models in improving reinforcement learning (RL) by modeling complex policies, expressing a high degree of multi-modality, and efficiently handling high-dimensional continuous…
Recent advancements in text-to-image diffusion models have demonstrated remarkable success, yet they often struggle to fully capture the user's intent. Existing approaches using textual inputs combined with bounding boxes or region masks…
Simulation-to-simulation and simulation-to-real world transfer of neural network models have been a difficult problem. To close the reality gap, prior methods to simulation-to-real world transfer focused on domain adaptation, decoupling…
Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…
We show how to use low-quality, synthetic, and out-of-distribution images to improve the quality of a diffusion model. Typically, diffusion models are trained on curated datasets that emerge from highly filtered data pools from the Web and…
Latest diffusion-based methods for many image restoration tasks outperform traditional models, but they encounter the long-time inference problem. To tackle it, this paper proposes a Wavelet-Based Diffusion Model (WaveDM). WaveDM learns the…
Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…
This paper introduces innovative solutions to enhance spatial controllability in diffusion models reliant on text queries. We first introduce vision guidance as a foundational spatial cue within the perturbed distribution. This…
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This…
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…
Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However, inconsistencies in topological structure, geometrical…
A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…
Manipulating objects without grasping them enables more complex tasks, known as non-prehensile manipulation. Most previous methods only learn one manipulation skill, such as reach or push, and cannot achieve flexible object manipulation.In…
In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…
Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…
Diffusion models have shown significant progress in image translation tasks recently. However, due to their stochastic nature, there's often a trade-off between style transformation and content preservation. Current strategies aim to…
Diffusion models demonstrate impressive image generation performance with text guidance. Inspired by the learning process of diffusion, existing images can be edited according to text by DDIM inversion. However, the vanilla DDIM inversion…