Related papers: ManiCM: Real-time 3D Diffusion Policy via Consiste…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…
The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…
Human motion generation is a challenging task due to its high dimensionality and the difficulty of generating fine-grained motions. Diffusion methods have been proposed due to their high sample quality and expressiveness. Early approaches…
In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…
We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator…
Diffusion models (DMs) have become the dominant paradigm of generative modeling in a variety of domains by learning stochastic processes from noise to data. Recently, diffusion denoising bridge models (DDBMs), a new formulation of…
Diffusion models (DMs) are a powerful generative framework that have attracted significant attention in recent years. However, the high computational cost of training DMs limits their practical applications. In this paper, we start with a…
Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…
Robot manipulation has increasingly adopted data-driven generative policy frameworks, yet the field faces a persistent trade-off: diffusion models suffer from high inference latency, while flow-based methods often require complex…
Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…
Video Generation Models (VGMs) have become powerful backbones for Vision-Language-Action (VLA) models, leveraging large-scale pretraining for robust dynamics modeling. However, current methods underutilize their distribution modeling…
We present HumanCM, a one-step human motion prediction framework built upon consistency models. Instead of relying on multi-step denoising as in diffusion-based methods, HumanCM performs efficient single-step generation by learning a…
Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs, a novel SE(3)-equivariant diffusion-based approach for…
This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computational cost is too expensive to control a robot in real time.…
Many robotic systems, such as mobile manipulators or quadrotors, cannot be equipped with high-end GPUs due to space, weight, and power constraints. These constraints prevent these systems from leveraging recent developments in visuomotor…
Predicting human motion plays a crucial role in ensuring a safe and effective human-robot close collaboration in intelligent remanufacturing systems of the future. Existing works can be categorized into two groups: those focusing on…
Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods…
Diffusion models (DMs) are capable of generating remarkably high-quality samples by iteratively denoising a random vector, a process that corresponds to moving along the probability flow ordinary differential equation (PF ODE).…
Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted states. However, generating accurate future visual states of…
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing acceleration methods apply a fixed number of…